{
    "0": {
        "acceleration": [
            -1.3893920183181763,
            0.28808826208114624,
            -0.6240445375442505
        ],
        "angular_velocity": [
            0.17310363054275513,
            0.04833860695362091,
            0.014905611053109169
        ],
        "forward_vector": [
            -0.9767556190490723,
            0.20620103180408478,
            -0.05856236815452576
        ],
        "right_vector": [
            -0.20658330619335175,
            -0.9784289002418518,
            0.00048439527745358646
        ],
        "location": [
            -997.7260131835938,
            3045.579345703125,
            360.11627197265625
        ],
        "rotation": [
            -0.027801521122455597,
            -3.357297420501709,
            168.0794219970703
        ],
        "velocity": [
            -0.3306273818016052,
            0.06872234493494034,
            0.19295653700828552
        ],
        "speed": 0.3376939832012726,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.021957246586680412,
        "expert_target_speed": 20.0,
        "target_point": [
            51.01633866908076,
            -0.659406114208096
        ],
        "target_point_next": [
            72.94081415274083,
            -2.440695900531921
        ]
    },
    "5": {
        "acceleration": [
            0.3538858890533447,
            -0.07508769631385803,
            -0.39681679010391235
        ],
        "angular_velocity": [
            0.01616268791258335,
            -0.21270622313022614,
            0.02205333299934864
        ],
        "forward_vector": [
            -0.9767519235610962,
            0.20612314343452454,
            -0.0588979572057724
        ],
        "right_vector": [
            -0.2064908891916275,
            -0.9784485101699829,
            0.00016110761498566717
        ],
        "location": [
            -997.8196411132812,
            3045.598876953125,
            360.1446533203125
        ],
        "rotation": [
            -0.009246839210391045,
            -3.376558542251587,
            168.08375549316406
        ],
        "velocity": [
            -0.41685712337493896,
            0.08686848729848862,
            0.05087994411587715
        ],
        "speed": 0.42581215975351944,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.802603721618652,
        "front_vehicle_info": {
            "id": 4027,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1012.3161010742188,
                3048.47998046875,
                359.3267517089844
            ],
            "velocity": [
                0.013203028589487076,
                -0.0026163964066654444,
                -0.23042134940624237
            ],
            "speed_kmh": 0.8309308769575583,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.4397513270378113,
                "transform": {
                    "location": {
                        "x": -968.6410522460938,
                        "y": 3038.349853515625,
                        "z": 361.9382629394531
                    },
                    "rotation": {
                        "roll": 0.004308533389121294,
                        "pitch": -3.1090404987335205,
                        "yaw": 163.95802307128906
                    }
                },
                "velocity": {
                    "x": 0.021594960242509842,
                    "y": -0.004811409395188093,
                    "z": -0.4391944110393524
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.35634857416152954,
                "transform": {
                    "location": {
                        "x": -983.0678100585938,
                        "y": 3042.216552734375,
                        "z": 361.0589294433594
                    },
                    "rotation": {
                        "roll": -0.0039062388241291046,
                        "pitch": -3.411283254623413,
                        "yaw": 166.03466796875
                    }
                },
                "velocity": {
                    "x": 0.019985834136605263,
                    "y": -0.004874074831604958,
                    "z": -0.3557542860507965
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4027,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.230814129114151,
                "transform": {
                    "location": {
                        "x": -1012.3161010742188,
                        "y": 3048.47998046875,
                        "z": 359.3267517089844
                    },
                    "rotation": {
                        "roll": -0.006439239252358675,
                        "pitch": -3.376401424407959,
                        "yaw": 168.8202667236328
                    }
                },
                "velocity": {
                    "x": 0.013203028589487076,
                    "y": -0.0026163964066654444,
                    "z": -0.23042134940624237
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4026,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.5130372047424316,
                "transform": {
                    "location": {
                        "x": -1027.0360107421875,
                        "y": 3051.619384765625,
                        "z": 358.3910217285156
                    },
                    "rotation": {
                        "roll": -0.0026245280168950558,
                        "pitch": -3.3595309257507324,
                        "yaw": 167.10101318359375
                    }
                },
                "velocity": {
                    "x": 0.0294185783714056,
                    "y": -0.006416734773665667,
                    "z": -0.5121528506278992
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.023932622745633125,
        "expert_target_speed": 1.4065197137466448,
        "target_point": [
            50.92064570753378,
            -0.6634717412426969
        ],
        "target_point_next": [
            72.84498692611537,
            -2.446413318433903
        ]
    },
    "10": {
        "acceleration": [
            -1.4439892768859863,
            0.3019070625305176,
            -0.22618310153484344
        ],
        "angular_velocity": [
            0.05879569426178932,
            0.15532849729061127,
            0.02836184948682785
        ],
        "forward_vector": [
            -0.9767681360244751,
            0.2060273140668869,
            -0.058963168412446976
        ],
        "right_vector": [
            -0.2063889503479004,
            -0.9784700274467468,
            4.4132113544037566e-05
        ],
        "location": [
            -997.9469604492188,
            3045.6259765625,
            360.1474609375
        ],
        "rotation": [
            -0.0025329908821731806,
            -3.3803014755249023,
            168.08932495117188
        ],
        "velocity": [
            -0.5956600904464722,
            0.12483963370323181,
            -0.016409367322921753
        ],
        "speed": 0.6086015753297526,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.672804832458496,
        "front_vehicle_info": {
            "id": 4027,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1012.3157348632812,
                3048.47998046875,
                359.3203125
            ],
            "velocity": [
                -0.0014674824196845293,
                0.0004755009722430259,
                0.023582300171256065
            ],
            "speed_kmh": 0.08507771831703696,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.02762584015727043,
                "transform": {
                    "location": {
                        "x": -968.6396484375,
                        "y": 3038.349609375,
                        "z": 361.9138488769531
                    },
                    "rotation": {
                        "roll": 0.003582317614927888,
                        "pitch": -3.1326591968536377,
                        "yaw": 163.9575958251953
                    }
                },
                "velocity": {
                    "x": -0.0015642517246305943,
                    "y": 0.0005577566917054355,
                    "z": 0.02757587842643261
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.04396878555417061,
                "transform": {
                    "location": {
                        "x": -983.0673828125,
                        "y": 3042.216552734375,
                        "z": 361.0513610839844
                    },
                    "rotation": {
                        "roll": -0.003509487258270383,
                        "pitch": -3.4173824787139893,
                        "yaw": 166.03453063964844
                    }
                },
                "velocity": {
                    "x": -0.002611723495647311,
                    "y": 0.0007448902470059693,
                    "z": 0.04388482868671417
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4027,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.023632699623703957,
                "transform": {
                    "location": {
                        "x": -1012.3157348632812,
                        "y": 3048.47998046875,
                        "z": 359.3203125
                    },
                    "rotation": {
                        "roll": -0.005920439958572388,
                        "pitch": -3.3800008296966553,
                        "yaw": 168.8200225830078
                    }
                },
                "velocity": {
                    "x": -0.0014674824196845293,
                    "y": 0.0004755009722430259,
                    "z": 0.023582300171256065
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4026,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.10419902205467224,
                "transform": {
                    "location": {
                        "x": -1027.035400390625,
                        "y": 3051.618896484375,
                        "z": 358.38238525390625
                    },
                    "rotation": {
                        "roll": -0.002258309395983815,
                        "pitch": -3.36492657661438,
                        "yaw": 167.10076904296875
                    }
                },
                "velocity": {
                    "x": -0.006063608452677727,
                    "y": 0.0015168392565101385,
                    "z": 0.10401138663291931
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.021929504349827766,
        "expert_target_speed": 1.573366026408554,
        "target_point": [
            50.79040971377775,
            -0.6681857907562332
        ],
        "target_point_next": [
            72.71457739338119,
            -2.453260044983317
        ]
    },
    "15": {
        "acceleration": [
            0.35851597785949707,
            -0.08367925882339478,
            -0.011468976736068726
        ],
        "angular_velocity": [
            0.024538731202483177,
            -0.18778939545154572,
            0.030680827796459198
        ],
        "forward_vector": [
            -0.9767886400222778,
            0.20591561496257782,
            -0.0590149350464344
        ],
        "right_vector": [
            -0.2062741219997406,
            -0.9784942865371704,
            -1.7394311726093292e-05
        ],
        "location": [
            -998.1076049804688,
            3045.65966796875,
            360.1403503417969
        ],
        "rotation": [
            0.0009983606869354844,
            -3.383272647857666,
            168.09584045410156
        ],
        "velocity": [
            -0.6867935657501221,
            0.1434992253780365,
            -0.0367545448243618
        ],
        "speed": 0.7016248496453527,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.579667091369629,
        "front_vehicle_info": {
            "id": 4027,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1012.3856811523438,
                3048.4931640625,
                359.3190612792969
            ],
            "velocity": [
                -0.9836270809173584,
                0.1794855296611786,
                -0.05211566761136055
            ],
            "speed_kmh": 3.604413293307396,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.000864028930664,
                "transform": {
                    "location": {
                        "x": -968.7102661132812,
                        "y": 3038.3681640625,
                        "z": 361.9151611328125
                    },
                    "rotation": {
                        "roll": -0.02108767442405224,
                        "pitch": -2.9154045581817627,
                        "yaw": 164.0033721923828
                    }
                },
                "velocity": {
                    "x": -0.9676339626312256,
                    "y": 0.2543833255767822,
                    "z": -0.026503361761569977
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.3284046649932861,
                "transform": {
                    "location": {
                        "x": -983.189208984375,
                        "y": 3042.24462890625,
                        "z": 361.0506286621094
                    },
                    "rotation": {
                        "roll": -0.021545397117733955,
                        "pitch": -3.199526786804199,
                        "yaw": 166.1287078857422
                    }
                },
                "velocity": {
                    "x": -1.2925167083740234,
                    "y": 0.2995735704898834,
                    "z": -0.0656902864575386
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4027,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.0012259483337402,
                "transform": {
                    "location": {
                        "x": -1012.3856811523438,
                        "y": 3048.4931640625,
                        "z": 359.3190612792969
                    },
                    "rotation": {
                        "roll": -0.01129151601344347,
                        "pitch": -3.2993431091308594,
                        "yaw": 168.85061645507812
                    }
                },
                "velocity": {
                    "x": -0.9836270809173584,
                    "y": 0.1794855296611786,
                    "z": -0.05211566761136055
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4026,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.023359471932053566,
                "transform": {
                    "location": {
                        "x": -1027.0362548828125,
                        "y": 3051.619384765625,
                        "z": 358.39788818359375
                    },
                    "rotation": {
                        "roll": -0.0016479631885886192,
                        "pitch": -3.369140863418579,
                        "yaw": 167.1005096435547
                    }
                },
                "velocity": {
                    "x": -0.001423813053406775,
                    "y": 0.00038804745418019593,
                    "z": 0.023312808945775032
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.02420394867658615,
        "expert_target_speed": 1.6647962306353556,
        "target_point": [
            50.62619414180009,
            -0.6741199548551684
        ],
        "target_point_next": [
            72.55015909706258,
            -2.4616823109409385
        ]
    },
    "20": {
        "acceleration": [
            -1.457536220550537,
            0.2997329831123352,
            -0.09845905005931854
        ],
        "angular_velocity": [
            0.026389645412564278,
            0.1768781691789627,
            0.0329534150660038
        ],
        "forward_vector": [
            -0.9768184423446655,
            0.20578423142433167,
            -0.05897923558950424
        ],
        "right_vector": [
            -0.20614145696163177,
            -0.9785222411155701,
            -2.8095671950723045e-05
        ],
        "location": [
            -998.3030395507812,
            3045.700439453125,
            360.1291809082031
        ],
        "rotation": [
            0.0016125706024467945,
            -3.381223440170288,
            168.10357666015625
        ],
        "velocity": [
            -0.8688572645187378,
            0.18184642493724823,
            -0.051546163856983185
        ],
        "speed": 0.8876829774020916,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.759981155395508,
        "front_vehicle_info": {
            "id": 4027,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1012.7581787109375,
                3048.56640625,
                359.29718017578125
            ],
            "velocity": [
                -1.9698246717453003,
                0.38993605971336365,
                -0.1178382858633995
            ],
            "speed_kmh": 7.241411614931614,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.9676584005355835,
                "transform": {
                    "location": {
                        "x": -969.074951171875,
                        "y": 3038.466552734375,
                        "z": 361.898193359375
                    },
                    "rotation": {
                        "roll": -0.03442376106977463,
                        "pitch": -2.7697713375091553,
                        "yaw": 164.21351623535156
                    }
                },
                "velocity": {
                    "x": -1.8986715078353882,
                    "y": 0.5068396925926208,
                    "z": -0.09919562935829163
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.7718446254730225,
                "transform": {
                    "location": {
                        "x": -983.6898803710938,
                        "y": 3042.3603515625,
                        "z": 361.0215148925781
                    },
                    "rotation": {
                        "roll": -0.033721908926963806,
                        "pitch": -3.12990665435791,
                        "yaw": 166.3947296142578
                    }
                },
                "velocity": {
                    "x": -2.6964733600616455,
                    "y": 0.621215283870697,
                    "z": -0.16200408339500427
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4027,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.011503219604492,
                "transform": {
                    "location": {
                        "x": -1012.7581787109375,
                        "y": 3048.56640625,
                        "z": 359.29718017578125
                    },
                    "rotation": {
                        "roll": -0.005615221336483955,
                        "pitch": -3.267821788787842,
                        "yaw": 168.83145141601562
                    }
                },
                "velocity": {
                    "x": -1.9698246717453003,
                    "y": 0.38993605971336365,
                    "z": -0.1178382858633995
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4026,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.1585094928741455,
                "transform": {
                    "location": {
                        "x": -1027.1600341796875,
                        "y": 3051.646728515625,
                        "z": 358.3916320800781
                    },
                    "rotation": {
                        "roll": -0.004058836493641138,
                        "pitch": -3.336608648300171,
                        "yaw": 167.13229370117188
                    }
                },
                "velocity": {
                    "x": -1.1274813413619995,
                    "y": 0.25724005699157715,
                    "z": -0.06897571682929993
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.022978516295552254,
        "expert_target_speed": 1.859932925402116,
        "target_point": [
            50.42646062820489,
            -0.6813674054262826
        ],
        "target_point_next": [
            72.35018330760803,
            -2.4718987268772885
        ]
    },
    "25": {
        "acceleration": [
            0.3655874729156494,
            -0.07911533117294312,
            0.013197585940361023
        ],
        "angular_velocity": [
            -0.039570245891809464,
            -0.1836816519498825,
            0.037608545273542404
        ],
        "forward_vector": [
            -0.9768499732017517,
            0.2056271731853485,
            -0.05900470167398453
        ],
        "right_vector": [
            -0.20598150789737701,
            -0.9785558581352234,
            -7.871491834521294e-05
        ],
        "location": [
            -998.5321044921875,
            3045.748291015625,
            360.1154479980469
        ],
        "rotation": [
            0.0045179040171206,
            -3.3826851844787598,
            168.11277770996094
        ],
        "velocity": [
            -0.960144579410553,
            0.20093625783920288,
            -0.058053988963365555
        ],
        "speed": 0.9809449490597779,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.18770980834961,
        "front_vehicle_info": {
            "id": 4027,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1013.4066162109375,
                3048.694580078125,
                359.25823974609375
            ],
            "velocity": [
                -3.2366859912872314,
                0.6409578323364258,
                -0.1930871158838272
            ],
            "speed_kmh": 11.898664855865125,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.2837815284729004,
                "transform": {
                    "location": {
                        "x": -969.7068481445312,
                        "y": 3038.635986328125,
                        "z": 361.8629455566406
                    },
                    "rotation": {
                        "roll": -0.048767074942588806,
                        "pitch": -2.702514410018921,
                        "yaw": 164.5149688720703
                    }
                },
                "velocity": {
                    "x": -3.16880202293396,
                    "y": 0.8422091603279114,
                    "z": -0.1805504411458969
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.471743106842041,
                "transform": {
                    "location": {
                        "x": -984.5855102539062,
                        "y": 3042.565673828125,
                        "z": 360.9673767089844
                    },
                    "rotation": {
                        "roll": -0.0399169847369194,
                        "pitch": -3.079097032546997,
                        "yaw": 166.7392578125
                    }
                },
                "velocity": {
                    "x": -4.351978302001953,
                    "y": 0.9937045574188232,
                    "z": -0.26328954100608826
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4027,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.3051846027374268,
                "transform": {
                    "location": {
                        "x": -1013.4066162109375,
                        "y": 3048.694580078125,
                        "z": 359.25823974609375
                    },
                    "rotation": {
                        "roll": -0.007568352855741978,
                        "pitch": -3.248711109161377,
                        "yaw": 168.82518005371094
                    }
                },
                "velocity": {
                    "x": -3.2366859912872314,
                    "y": 0.6409578323364258,
                    "z": -0.1930871158838272
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4026,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.91773521900177,
                "transform": {
                    "location": {
                        "x": -1027.5474853515625,
                        "y": 3051.735595703125,
                        "z": 358.3679504394531
                    },
                    "rotation": {
                        "roll": -0.004974390845745802,
                        "pitch": -3.3388352394104004,
                        "yaw": 167.12071228027344
                    }
                },
                "velocity": {
                    "x": -1.8660154342651367,
                    "y": 0.42740458250045776,
                    "z": -0.1141047477722168
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.023941222578287125,
        "expert_target_speed": 1.9768515069154997,
        "target_point": [
            50.192341432419255,
            -0.6898052989927912
        ],
        "target_point_next": [
            72.11577695636996,
            -2.483849156775893
        ]
    },
    "30": {
        "acceleration": [
            -3.7308740615844727,
            0.780189037322998,
            -0.222959965467453
        ],
        "angular_velocity": [
            0.25971826910972595,
            0.9424968957901001,
            -0.53328537940979
        ],
        "forward_vector": [
            -0.9769482612609863,
            0.20559118688106537,
            -0.05748355761170387
        ],
        "right_vector": [
            -0.20592400431632996,
            -0.9785679578781128,
            -0.0001366864744341001
        ],
        "location": [
            -998.82177734375,
            3045.809326171875,
            360.09771728515625
        ],
        "rotation": [
            0.007844530045986176,
            -3.295381784439087,
            168.11595153808594
        ],
        "velocity": [
            -1.4953316450119019,
            0.31268465518951416,
            -0.09014283120632172
        ],
        "speed": 1.527674187176371,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.911349296569824,
        "front_vehicle_info": {
            "id": 4027,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1014.4057006835938,
                3048.89208984375,
                359.19830322265625
            ],
            "velocity": [
                -4.65195894241333,
                0.9215698838233948,
                -0.2785758972167969
            ],
            "speed_kmh": 17.101939184724333,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.733412265777588,
                "transform": {
                    "location": {
                        "x": -970.6861572265625,
                        "y": 3038.897216796875,
                        "z": 361.80670166015625
                    },
                    "rotation": {
                        "roll": -0.05072016268968582,
                        "pitch": -2.679838180541992,
                        "yaw": 164.8284149169922
                    }
                },
                "velocity": {
                    "x": -4.568958282470703,
                    "y": 1.2085832357406616,
                    "z": -0.2629374563694
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.541764259338379,
                "transform": {
                    "location": {
                        "x": -985.8428955078125,
                        "y": 3042.8515625,
                        "z": 360.8915100097656
                    },
                    "rotation": {
                        "roll": -0.05050656571984291,
                        "pitch": -3.1643035411834717,
                        "yaw": 167.0840606689453
                    }
                },
                "velocity": {
                    "x": -5.395323276519775,
                    "y": 1.222396731376648,
                    "z": -0.327696830034256
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4027,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.7505388259887695,
                "transform": {
                    "location": {
                        "x": -1014.4057006835938,
                        "y": 3048.89208984375,
                        "z": 359.19830322265625
                    },
                    "rotation": {
                        "roll": -0.021240228787064552,
                        "pitch": -3.230283260345459,
                        "yaw": 168.8208465576172
                    }
                },
                "velocity": {
                    "x": -4.65195894241333,
                    "y": 0.9215698838233948,
                    "z": -0.2785758972167969
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4026,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.5714852809906006,
                "transform": {
                    "location": {
                        "x": -1028.096435546875,
                        "y": 3051.861083984375,
                        "z": 358.3348388671875
                    },
                    "rotation": {
                        "roll": -0.010528571903705597,
                        "pitch": -3.3438076972961426,
                        "yaw": 167.1112823486328
                    }
                },
                "velocity": {
                    "x": -2.5021214485168457,
                    "y": 0.5737300515174866,
                    "z": -0.150859534740448
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.02412969060242176,
        "expert_target_speed": 2.5476658945098896,
        "target_point": [
            49.89626968664763,
            -0.6925312119950604
        ],
        "target_point_next": [
            71.81960508686717,
            -2.487798174302643
        ]
    },
    "35": {
        "acceleration": [
            -5.664401054382324,
            1.188657283782959,
            -0.34956425428390503
        ],
        "angular_velocity": [
            0.30006811022758484,
            1.007161021232605,
            -0.24305343627929688
        ],
        "forward_vector": [
            -0.9771960973739624,
            0.20564676821231842,
            -0.05288861691951752
        ],
        "right_vector": [
            -0.20592185854911804,
            -0.9785683751106262,
            -0.00025298260152339935
        ],
        "location": [
            -999.3499145507812,
            3045.919677734375,
            360.0648498535156
        ],
        "rotation": [
            0.014515150338411331,
            -3.0317089557647705,
            168.1157684326172
        ],
        "velocity": [
            -2.758845567703247,
            0.5773661136627197,
            -0.1672346144914627
        ],
        "speed": 2.8186132220724867,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.67304801940918,
        "front_vehicle_info": {
            "id": 4027,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1015.6809692382812,
                3049.14453125,
                359.1227722167969
            ],
            "velocity": [
                -5.286482810974121,
                1.0453637838363647,
                -0.31569576263427734
            ],
            "speed_kmh": 19.43311536952104,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.389083385467529,
                "transform": {
                    "location": {
                        "x": -971.9425659179688,
                        "y": 3039.229736328125,
                        "z": 361.7346496582031
                    },
                    "rotation": {
                        "roll": -0.058807384222745895,
                        "pitch": -2.947260618209839,
                        "yaw": 165.0658721923828
                    }
                },
                "velocity": {
                    "x": -5.202357769012451,
                    "y": 1.3711198568344116,
                    "z": -0.3126083016395569
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.6780309677124023,
                "transform": {
                    "location": {
                        "x": -987.0157470703125,
                        "y": 3043.11669921875,
                        "z": 360.81976318359375
                    },
                    "rotation": {
                        "roll": -0.059967055916786194,
                        "pitch": -3.784634828567505,
                        "yaw": 167.4118194580078
                    }
                },
                "velocity": {
                    "x": -2.606506824493408,
                    "y": 0.5934562683105469,
                    "z": -0.16056863963603973
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4027,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.398087501525879,
                "transform": {
                    "location": {
                        "x": -1015.6809692382812,
                        "y": 3049.14453125,
                        "z": 359.1227722167969
                    },
                    "rotation": {
                        "roll": -0.022094739601016045,
                        "pitch": -3.287137746810913,
                        "yaw": 168.81573486328125
                    }
                },
                "velocity": {
                    "x": -5.286482810974121,
                    "y": 1.0453637838363647,
                    "z": -0.31569576263427734
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4026,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.2552430629730225,
                "transform": {
                    "location": {
                        "x": -1028.807373046875,
                        "y": 3052.02392578125,
                        "z": 358.2920227050781
                    },
                    "rotation": {
                        "roll": -0.018066396936774254,
                        "pitch": -3.343384265899658,
                        "yaw": 167.10411071777344
                    }
                },
                "velocity": {
                    "x": -3.167553424835205,
                    "y": 0.7258280515670776,
                    "z": -0.19075454771518707
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.025329366326332092,
        "expert_target_speed": 3.8411682831203176,
        "target_point": [
            49.35672980713223,
            -0.6931399930076729
        ],
        "target_point_next": [
            71.28007119957962,
            -2.4883337782786032
        ]
    },
    "40": {
        "acceleration": [
            -5.577154159545898,
            1.1515629291534424,
            -0.3150966763496399
        ],
        "angular_velocity": [
            0.04652411863207817,
            0.2989084720611572,
            0.1596345156431198
        ],
        "forward_vector": [
            -0.9774860143661499,
            0.20511449873447418,
            -0.049487873911857605
        ],
        "right_vector": [
            -0.20534595847129822,
            -0.9786893725395203,
            -0.000415866234106943
        ],
        "location": [
            -1000.2471923828125,
            3046.107421875,
            360.0098876953125
        ],
        "rotation": [
            0.02385661192238331,
            -2.8366048336029053,
            168.14906311035156
        ],
        "velocity": [
            -4.287425994873047,
            0.89504075050354,
            -0.2590186893939972
        ],
        "speed": 4.379853833928146,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.939424514770508,
        "front_vehicle_info": {
            "id": 4027,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1016.8418579101562,
                3049.370849609375,
                359.0553283691406
            ],
            "velocity": [
                -2.550018072128296,
                0.49229907989501953,
                -0.1539808213710785
            ],
            "speed_kmh": 9.365993912390223,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.644331455230713,
                "transform": {
                    "location": {
                        "x": -973.3588256835938,
                        "y": 3039.60302734375,
                        "z": 361.6487731933594
                    },
                    "rotation": {
                        "roll": -0.04318239539861679,
                        "pitch": -2.936093330383301,
                        "yaw": 165.2049102783203
                    }
                },
                "velocity": {
                    "x": -6.4154558181762695,
                    "y": 1.6844128370285034,
                    "z": -0.3896423876285553
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.2343629598617554,
                "transform": {
                    "location": {
                        "x": -987.2101440429688,
                        "y": 3043.160888671875,
                        "z": 360.8080139160156
                    },
                    "rotation": {
                        "roll": -0.06192014366388321,
                        "pitch": -3.757840156555176,
                        "yaw": 167.45346069335938
                    }
                },
                "velocity": {
                    "x": -1.2029194831848145,
                    "y": 0.267372727394104,
                    "z": -0.07175298780202866
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4027,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.6016650199890137,
                "transform": {
                    "location": {
                        "x": -1016.8418579101562,
                        "y": 3049.370849609375,
                        "z": 359.0553283691406
                    },
                    "rotation": {
                        "roll": -0.0204772986471653,
                        "pitch": -3.562005043029785,
                        "yaw": 168.5234375
                    }
                },
                "velocity": {
                    "x": -2.550018072128296,
                    "y": 0.49229907989501953,
                    "z": -0.1539808213710785
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4026,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.085761547088623,
                "transform": {
                    "location": {
                        "x": -1029.69921875,
                        "y": 3052.228271484375,
                        "z": 358.2384033203125
                    },
                    "rotation": {
                        "roll": -0.019989004358649254,
                        "pitch": -3.3354475498199463,
                        "yaw": 167.0968475341797
                    }
                },
                "velocity": {
                    "x": -3.9757046699523926,
                    "y": 0.9113187193870544,
                    "z": -0.23815451562404633
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.02932434156537056,
        "expert_target_speed": 5.3213589549530775,
        "target_point": [
            48.439610078820934,
            -0.7223335735691965
        ],
        "target_point_next": [
            70.36190514740326,
            -2.530259861470048
        ]
    },
    "45": {
        "acceleration": [
            0.7471466064453125,
            -0.16442060470581055,
            0.03352224826812744
        ],
        "angular_velocity": [
            -0.3265426456928253,
            -1.5923765897750854,
            0.15521296858787537
        ],
        "forward_vector": [
            -0.9775895476341248,
            0.2043294459581375,
            -0.05067632347345352
        ],
        "right_vector": [
            -0.20456942915916443,
            -0.9788519144058228,
            -0.0004606693401001394
        ],
        "location": [
            -1001.4761352539062,
            3046.36376953125,
            359.9361267089844
        ],
        "rotation": [
            0.02642836794257164,
            -2.9047837257385254,
            168.19436645507812
        ],
        "velocity": [
            -5.229305267333984,
            1.08845055103302,
            -0.31506702303886414
        ],
        "speed": 5.341381673407269,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.86427116394043,
        "front_vehicle_info": {
            "id": 4027,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1017.0206298828125,
                3049.405029296875,
                359.0447692871094
            ],
            "velocity": [
                -0.9828440546989441,
                0.19572857022285461,
                -0.0578833632171154
            ],
            "speed_kmh": 3.613730482843797,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.369632244110107,
                "transform": {
                    "location": {
                        "x": -974.9590454101562,
                        "y": 3040.020751953125,
                        "z": 361.5524597167969
                    },
                    "rotation": {
                        "roll": -0.053100571036338806,
                        "pitch": -3.2920827865600586,
                        "yaw": 165.3697509765625
                    }
                },
                "velocity": {
                    "x": -6.154867649078369,
                    "y": 1.5960253477096558,
                    "z": -0.3775196075439453
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.8352530002593994,
                "transform": {
                    "location": {
                        "x": -987.7221069335938,
                        "y": 3043.275146484375,
                        "z": 360.7772216796875
                    },
                    "rotation": {
                        "roll": -0.04687497019767761,
                        "pitch": -3.2124016284942627,
                        "yaw": 167.4570770263672
                    }
                },
                "velocity": {
                    "x": -2.7623279094696045,
                    "y": 0.6162021160125732,
                    "z": -0.1688157171010971
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4027,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.0038139820098877,
                "transform": {
                    "location": {
                        "x": -1017.0206298828125,
                        "y": 3049.405029296875,
                        "z": 359.0447692871094
                    },
                    "rotation": {
                        "roll": -0.013824478723108768,
                        "pitch": -3.5808358192443848,
                        "yaw": 168.46348571777344
                    }
                },
                "velocity": {
                    "x": -0.9828440546989441,
                    "y": 0.19572857022285461,
                    "z": -0.0578833632171154
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4026,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.124570369720459,
                "transform": {
                    "location": {
                        "x": -1030.822021484375,
                        "y": 3052.48583984375,
                        "z": 358.1710510253906
                    },
                    "rotation": {
                        "roll": -0.0320434607565403,
                        "pitch": -3.312825918197632,
                        "yaw": 167.09408569335938
                    }
                },
                "velocity": {
                    "x": -4.986710548400879,
                    "y": 1.1433982849121094,
                    "z": -0.2942410707473755
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.03774437680840492,
        "expert_target_speed": 6.126700643353886,
        "target_point": [
            47.18362936445455,
            -0.761158882037595
        ],
        "target_point_next": [
            69.10448737234847,
            -2.5864267347718553
        ]
    },
    "50": {
        "acceleration": [
            -6.700019836425781,
            1.366724967956543,
            -0.4095625877380371
        ],
        "angular_velocity": [
            0.3134586215019226,
            1.112237811088562,
            0.20117254555225372
        ],
        "forward_vector": [
            -0.9776075482368469,
            0.20347951352596283,
            -0.05366130545735359
        ],
        "right_vector": [
            -0.2037472426891327,
            -0.9790233969688416,
            -0.0004910225979983807
        ],
        "location": [
            -1002.8330078125,
            3046.645751953125,
            359.85479736328125
        ],
        "rotation": [
            0.02817411534488201,
            -3.0760438442230225,
            168.2423095703125
        ],
        "velocity": [
            -5.985562801361084,
            1.2404865026474,
            -0.3614325523376465
        ],
        "speed": 6.112754601019734,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.92430591583252,
        "front_vehicle_info": {
            "id": 4027,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1017.4590454101562,
                3049.49365234375,
                359.01611328125
            ],
            "velocity": [
                -2.2432379722595215,
                0.4776226282119751,
                -0.1348956674337387
            ],
            "speed_kmh": 8.270945601243147,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.4961739778518677,
                "transform": {
                    "location": {
                        "x": -975.7911987304688,
                        "y": 3040.2392578125,
                        "z": 361.5070495605469
                    },
                    "rotation": {
                        "roll": -0.047973692417144775,
                        "pitch": -4.894014835357666,
                        "yaw": 165.61685180664062
                    }
                },
                "velocity": {
                    "x": -0.47742995619773865,
                    "y": 0.1312393695116043,
                    "z": -0.03202317655086517
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.507707118988037,
                "transform": {
                    "location": {
                        "x": -988.6323852539062,
                        "y": 3043.47705078125,
                        "z": 360.7220764160156
                    },
                    "rotation": {
                        "roll": -0.0388793870806694,
                        "pitch": -3.0938706398010254,
                        "yaw": 167.4869842529297
                    }
                },
                "velocity": {
                    "x": -4.394209861755371,
                    "y": 0.9693492650985718,
                    "z": -0.2659004032611847
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4027,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.297484874725342,
                "transform": {
                    "location": {
                        "x": -1017.4590454101562,
                        "y": 3049.49365234375,
                        "z": 359.01611328125
                    },
                    "rotation": {
                        "roll": -0.01214598212391138,
                        "pitch": -3.307833194732666,
                        "yaw": 168.49082946777344
                    }
                },
                "velocity": {
                    "x": -2.2432379722595215,
                    "y": 0.4776226282119751,
                    "z": -0.1348956674337387
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4026,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.512881278991699,
                "transform": {
                    "location": {
                        "x": -1032.12060546875,
                        "y": 3052.78369140625,
                        "z": 358.0938720703125
                    },
                    "rotation": {
                        "roll": -0.03396601974964142,
                        "pitch": -3.300600051879883,
                        "yaw": 167.08677673339844
                    }
                },
                "velocity": {
                    "x": -5.3642802238464355,
                    "y": 1.231461524963379,
                    "z": -0.31600555777549744
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.05538430064916611,
        "expert_target_speed": 6.7106429172906354,
        "target_point": [
            45.797112964852985,
            -0.801049705185223
        ],
        "target_point_next": [
            67.71643670228985,
            -2.6446509174622843
        ]
    },
    "55": {
        "acceleration": [
            0.3276824951171875,
            -0.08765697479248047,
            0.01004636287689209
        ],
        "angular_velocity": [
            -0.22029417753219604,
            -1.067465901374817,
            0.22561685740947723
        ],
        "forward_vector": [
            -0.977781355381012,
            0.20249411463737488,
            -0.054219700396060944
        ],
        "right_vector": [
            -0.20276318490505219,
            -0.979227602481842,
            -0.0005493173375725746
        ],
        "location": [
            -1004.4237060546875,
            3046.974853515625,
            359.75885009765625
        ],
        "rotation": [
            0.03151993080973625,
            -3.108084201812744,
            168.29969787597656
        ],
        "velocity": [
            -6.482064247131348,
            1.3374583721160889,
            -0.391356498003006
        ],
        "speed": 6.61860648483364,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 13.857889175415039,
        "front_vehicle_info": {
            "id": 4027,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1018.0069580078125,
                3049.6083984375,
                358.9837341308594
            ],
            "velocity": [
                -2.1396560668945312,
                0.45244237780570984,
                -0.12769711017608643
            ],
            "speed_kmh": 7.886497200498696,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.3724439144134521,
                "transform": {
                    "location": {
                        "x": -975.9620361328125,
                        "y": 3040.283447265625,
                        "z": 361.49346923828125
                    },
                    "rotation": {
                        "roll": -0.044342041015625,
                        "pitch": -4.087151050567627,
                        "yaw": 165.6531219482422
                    }
                },
                "velocity": {
                    "x": -1.326885461807251,
                    "y": 0.3414682447910309,
                    "z": -0.07985401898622513
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.425285816192627,
                "transform": {
                    "location": {
                        "x": -989.8890991210938,
                        "y": 3043.75439453125,
                        "z": 360.6462097167969
                    },
                    "rotation": {
                        "roll": -0.03497312217950821,
                        "pitch": -3.1982085704803467,
                        "yaw": 167.5327911376953
                    }
                },
                "velocity": {
                    "x": -5.288798809051514,
                    "y": 1.166204571723938,
                    "z": -0.31984251737594604
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4027,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.1906936168670654,
                "transform": {
                    "location": {
                        "x": -1018.0069580078125,
                        "y": 3049.6083984375,
                        "z": 358.9837341308594
                    },
                    "rotation": {
                        "roll": -0.00997923593968153,
                        "pitch": -3.3663337230682373,
                        "yaw": 168.37826538085938
                    }
                },
                "velocity": {
                    "x": -2.1396560668945312,
                    "y": 0.45244237780570984,
                    "z": -0.12769711017608643
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4026,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.672911643981934,
                "transform": {
                    "location": {
                        "x": -1033.5968017578125,
                        "y": 3053.130615234375,
                        "z": 358.0061950683594
                    },
                    "rotation": {
                        "roll": -0.027099642902612686,
                        "pitch": -3.245972156524658,
                        "yaw": 166.76895141601562
                    }
                },
                "velocity": {
                    "x": -6.477413654327393,
                    "y": 1.5569223165512085,
                    "z": -0.3832222521305084
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.06456367671489716,
        "expert_target_speed": 6.979415971338309,
        "target_point": [
            44.17190184499171,
            -0.8472479388512895
        ],
        "target_point_next": [
            66.0893675988409,
            -2.712807765102081
        ]
    },
    "60": {
        "acceleration": [
            1.1840152740478516,
            -0.2739739418029785,
            0.07173657417297363
        ],
        "angular_velocity": [
            -0.1889936923980713,
            -0.8581175208091736,
            0.2213275283575058
        ],
        "forward_vector": [
            -0.9777030944824219,
            0.2014733999967575,
            -0.05920402705669403
        ],
        "right_vector": [
            -0.2018003612756729,
            -0.9794265031814575,
            -0.000465251476271078
        ],
        "location": [
            -1006.0103149414062,
            3047.3017578125,
            359.6642761230469
        ],
        "rotation": [
            0.026703787967562675,
            -3.3941256999969482,
            168.3561553955078
        ],
        "velocity": [
            -6.193087100982666,
            1.2713884115219116,
            -0.372514933347702
        ],
        "speed": 6.322242982779932,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 12.870848655700684,
        "front_vehicle_info": {
            "id": 4027,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1018.6278686523438,
                3049.739013671875,
                358.946044921875
            ],
            "velocity": [
                -2.9676148891448975,
                0.6278747320175171,
                -0.17810389399528503
            ],
            "speed_kmh": 10.938720585672776,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.263681411743164,
                "transform": {
                    "location": {
                        "x": -976.4121704101562,
                        "y": 3040.3994140625,
                        "z": 361.46343994140625
                    },
                    "rotation": {
                        "roll": -0.031982503831386566,
                        "pitch": -3.3727405071258545,
                        "yaw": 165.6245574951172
                    }
                },
                "velocity": {
                    "x": -2.1885125637054443,
                    "y": 0.562896728515625,
                    "z": -0.1334700882434845
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.917096138000488,
                "transform": {
                    "location": {
                        "x": -991.2561645507812,
                        "y": 3044.05517578125,
                        "z": 360.5631408691406
                    },
                    "rotation": {
                        "roll": -0.02615356259047985,
                        "pitch": -3.320673942565918,
                        "yaw": 167.54640197753906
                    }
                },
                "velocity": {
                    "x": -5.768862247467041,
                    "y": 1.268540859222412,
                    "z": -0.3507940471172333
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4027,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.0385334491729736,
                "transform": {
                    "location": {
                        "x": -1018.6278686523438,
                        "y": 3049.739013671875,
                        "z": 358.946044921875
                    },
                    "rotation": {
                        "roll": -0.013702359050512314,
                        "pitch": -3.31524395942688,
                        "yaw": 168.2869415283203
                    }
                },
                "velocity": {
                    "x": -2.9676148891448975,
                    "y": 0.6278747320175171,
                    "z": -0.17810389399528503
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4026,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.784892559051514,
                "transform": {
                    "location": {
                        "x": -1035.369140625,
                        "y": 3053.55615234375,
                        "z": 357.90234375
                    },
                    "rotation": {
                        "roll": -0.016845719888806343,
                        "pitch": -3.1954970359802246,
                        "yaw": 166.42108154296875
                    }
                },
                "velocity": {
                    "x": -7.552720546722412,
                    "y": 1.8362188339233398,
                    "z": -0.43504852056503296
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.08232822269201279,
        "expert_target_speed": 6.625167603569286,
        "target_point": [
            42.55110927482491,
            -0.8908072214931213
        ],
        "target_point_next": [
            64.4667265453965,
            -2.7779580332453246
        ]
    },
    "65": {
        "acceleration": [
            6.7464447021484375,
            -1.3798952102661133,
            0.3962022066116333
        ],
        "angular_velocity": [
            -0.3876594305038452,
            -1.9795126914978027,
            1.0715970993041992
        ],
        "forward_vector": [
            -0.9776253700256348,
            0.20062944293022156,
            -0.06321752816438675
        ],
        "right_vector": [
            -0.20100505650043488,
            -0.9795900583267212,
            -0.00042644140194170177
        ],
        "location": [
            -1007.4986572265625,
            3047.606689453125,
            359.57562255859375
        ],
        "rotation": [
            0.02448226325213909,
            -3.6245148181915283,
            168.4027099609375
        ],
        "velocity": [
            -5.403141975402832,
            1.1048763990402222,
            -0.32436278462409973
        ],
        "speed": 5.514951954778582,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 12.298178672790527,
        "front_vehicle_info": {
            "id": 4027,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1019.5551147460938,
                3049.93408203125,
                358.8898620605469
            ],
            "velocity": [
                -4.371201515197754,
                0.9248549938201904,
                -0.2624601423740387
            ],
            "speed_kmh": 16.112421179023837,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.2821364402770996,
                "transform": {
                    "location": {
                        "x": -977.072021484375,
                        "y": 3040.569091796875,
                        "z": 361.42218017578125
                    },
                    "rotation": {
                        "roll": -0.018829336389899254,
                        "pitch": -3.1288139820098877,
                        "yaw": 165.60154724121094
                    }
                },
                "velocity": {
                    "x": -3.1729848384857178,
                    "y": 0.8164756298065186,
                    "z": -0.19481757283210754
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.234587669372559,
                "transform": {
                    "location": {
                        "x": -992.9853515625,
                        "y": 3044.4365234375,
                        "z": 360.4581604003906
                    },
                    "rotation": {
                        "roll": -0.003204362466931343,
                        "pitch": -3.220092535018921,
                        "yaw": 167.55062866210938
                    }
                },
                "velocity": {
                    "x": -7.052914142608643,
                    "y": 1.5528700351715088,
                    "z": -0.4292529821395874
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4027,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.475672721862793,
                "transform": {
                    "location": {
                        "x": -1019.5551147460938,
                        "y": 3049.93408203125,
                        "z": 358.8898620605469
                    },
                    "rotation": {
                        "roll": -0.017608653753995895,
                        "pitch": -3.244688034057617,
                        "yaw": 168.1942901611328
                    }
                },
                "velocity": {
                    "x": -4.371201515197754,
                    "y": 0.9248549938201904,
                    "z": -0.2624601423740387
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4026,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.859569549560547,
                "transform": {
                    "location": {
                        "x": -1037.3868408203125,
                        "y": 3054.047119140625,
                        "z": 357.7859191894531
                    },
                    "rotation": {
                        "roll": -0.012420660816133022,
                        "pitch": -3.127960205078125,
                        "yaw": 166.1953582763672
                    }
                },
                "velocity": {
                    "x": -8.58668327331543,
                    "y": 2.126615524291992,
                    "z": -0.4882093071937561
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0865076333284378,
        "expert_target_speed": 5.997389206076068,
        "target_point": [
            41.03111310941673,
            -0.9258781074131761
        ],
        "target_point_next": [
            62.945189778122334,
            -2.8308354020959285
        ]
    },
    "70": {
        "acceleration": [
            4.135074615478516,
            -0.8706557750701904,
            0.2788633108139038
        ],
        "angular_velocity": [
            -0.0885782539844513,
            -0.34686708450317383,
            0.1668773591518402
        ],
        "forward_vector": [
            -0.9777038097381592,
            0.19873763620853424,
            -0.06781268864870071
        ],
        "right_vector": [
            -0.1991773247718811,
            -0.9799633622169495,
            -0.0002827658026944846
        ],
        "location": [
            -1008.6771850585938,
            3047.84716796875,
            359.50537109375
        ],
        "rotation": [
            0.01623866893351078,
            -3.8883650302886963,
            168.51004028320312
        ],
        "velocity": [
            -4.148135185241699,
            0.8396697044372559,
            -0.24992558360099792
        ],
        "speed": 4.232265436806857,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 12.362131118774414,
        "front_vehicle_info": {
            "id": 4027,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1020.7946166992188,
                3050.195556640625,
                358.8160095214844
            ],
            "velocity": [
                -5.167895793914795,
                1.0946736335754395,
                -0.31131353974342346
            ],
            "speed_kmh": 19.050216784436405,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.667954444885254,
                "transform": {
                    "location": {
                        "x": -978.0506591796875,
                        "y": 3040.82080078125,
                        "z": 361.36138916015625
                    },
                    "rotation": {
                        "roll": -0.010436953976750374,
                        "pitch": -2.9201037883758545,
                        "yaw": 165.58567810058594
                    }
                },
                "velocity": {
                    "x": -4.512814521789551,
                    "y": 1.1610006093978882,
                    "z": -0.2763639986515045
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.8882124423980713,
                "transform": {
                    "location": {
                        "x": -994.3505859375,
                        "y": 3044.732177734375,
                        "z": 360.3748474121094
                    },
                    "rotation": {
                        "roll": -0.02087397500872612,
                        "pitch": -4.055902481079102,
                        "yaw": 167.77325439453125
                    }
                },
                "velocity": {
                    "x": -2.8184235095977783,
                    "y": 0.606967568397522,
                    "z": -0.17277562618255615
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4027,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.291727066040039,
                "transform": {
                    "location": {
                        "x": -1020.7946166992188,
                        "y": 3050.195556640625,
                        "z": 358.8160095214844
                    },
                    "rotation": {
                        "roll": -0.01513672061264515,
                        "pitch": -3.265684127807617,
                        "yaw": 168.09228515625
                    }
                },
                "velocity": {
                    "x": -5.167895793914795,
                    "y": 1.0946736335754395,
                    "z": -0.31131353974342346
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4026,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.391263008117676,
                "transform": {
                    "location": {
                        "x": -1039.4754638671875,
                        "y": 3054.568359375,
                        "z": 357.6678771972656
                    },
                    "rotation": {
                        "roll": -0.004211450926959515,
                        "pitch": -3.1199891567230225,
                        "yaw": 165.80686950683594
                    }
                },
                "velocity": {
                    "x": -8.12099838256836,
                    "y": 2.063690185546875,
                    "z": -0.45150497555732727
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0924423411488533,
        "expert_target_speed": 4.893795773810294,
        "target_point": [
            39.82649389445223,
            -1.0018654611890438
        ],
        "target_point_next": [
            61.73696225384725,
            -2.947885709907359
        ]
    },
    "75": {
        "acceleration": [
            0.8604669570922852,
            -0.17639398574829102,
            0.04790306091308594
        ],
        "angular_velocity": [
            0.1877831667661667,
            0.8437791466712952,
            -0.36312639713287354
        ],
        "forward_vector": [
            -0.9779309630393982,
            0.19819074869155884,
            -0.0661163479089737
        ],
        "right_vector": [
            -0.19860650599002838,
            -0.9800792336463928,
            -0.0002900874533224851
        ],
        "location": [
            -1009.6314086914062,
            3048.0400390625,
            359.44769287109375
        ],
        "rotation": [
            0.016657233238220215,
            -3.7909529209136963,
            168.5434112548828
        ],
        "velocity": [
            -3.623574733734131,
            0.7305291295051575,
            -0.21745456755161285
        ],
        "speed": 3.696480306996365,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 12.780383110046387,
        "front_vehicle_info": {
            "id": 4027,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1022.15576171875,
                3050.4833984375,
                358.7344055175781
            ],
            "velocity": [
                -5.697669506072998,
                1.2087676525115967,
                -0.34180015325546265
            ],
            "speed_kmh": 21.004198189960388,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.915360927581787,
                "transform": {
                    "location": {
                        "x": -979.115966796875,
                        "y": 3041.091796875,
                        "z": 361.2980041503906
                    },
                    "rotation": {
                        "roll": -0.03900149464607239,
                        "pitch": -3.389925241470337,
                        "yaw": 165.69247436523438
                    }
                },
                "velocity": {
                    "x": -3.7911248207092285,
                    "y": 0.9506409764289856,
                    "z": -0.23174560070037842
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.8994691371917725,
                "transform": {
                    "location": {
                        "x": -994.5510864257812,
                        "y": 3044.77490234375,
                        "z": 360.36273193359375
                    },
                    "rotation": {
                        "roll": -0.01776125468313694,
                        "pitch": -3.918971061706543,
                        "yaw": 167.80313110351562
                    }
                },
                "velocity": {
                    "x": -0.8785549998283386,
                    "y": 0.18579402565956116,
                    "z": -0.05163762345910072
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4027,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.834499835968018,
                "transform": {
                    "location": {
                        "x": -1022.15576171875,
                        "y": 3050.4833984375,
                        "z": 358.7344055175781
                    },
                    "rotation": {
                        "roll": -0.024078385904431343,
                        "pitch": -3.3114256858825684,
                        "yaw": 168.02882385253906
                    }
                },
                "velocity": {
                    "x": -5.697669506072998,
                    "y": 1.2087676525115967,
                    "z": -0.34180015325546265
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4026,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.178674697875977,
                "transform": {
                    "location": {
                        "x": -1041.469970703125,
                        "y": 3055.076171875,
                        "z": 357.55694580078125
                    },
                    "rotation": {
                        "roll": -0.004425053019076586,
                        "pitch": -3.075716018676758,
                        "yaw": 165.50250244140625
                    }
                },
                "velocity": {
                    "x": -7.908351421356201,
                    "y": 2.03899884223938,
                    "z": -0.437245637178421
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.09965337812900543,
        "expert_target_speed": 4.464892620169842,
        "target_point": [
            38.852384043697555,
            -1.025538632652327
        ],
        "target_point_next": [
            60.761716615240005,
            -2.98430477643295
        ]
    },
    "80": {
        "acceleration": [
            -0.8619976043701172,
            0.16533255577087402,
            -0.06699860095977783
        ],
        "angular_velocity": [
            0.16251660883426666,
            0.864849328994751,
            0.5863320827484131
        ],
        "forward_vector": [
            -0.978330671787262,
            0.197575643658638,
            -0.06191082298755646
        ],
        "right_vector": [
            -0.1979375034570694,
            -0.9802145957946777,
            -0.0002937722019851208
        ],
        "location": [
            -1010.5455932617188,
            3048.223876953125,
            359.3919372558594
        ],
        "rotation": [
            0.01686425879597664,
            -3.5494987964630127,
            168.58258056640625
        ],
        "velocity": [
            -3.7240331172943115,
            0.7485166788101196,
            -0.2236369401216507
        ],
        "speed": 3.798512850730101,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 13.605234146118164,
        "front_vehicle_info": {
            "id": 4027,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1023.8717041015625,
                3050.857666015625,
                358.6301574707031
            ],
            "velocity": [
                -8.024206161499023,
                1.7903944253921509,
                -0.48346540331840515
            ],
            "speed_kmh": 29.648603277376886,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.0318613052368164,
                "transform": {
                    "location": {
                        "x": -979.9263916015625,
                        "y": 3041.294921875,
                        "z": 361.2497253417969
                    },
                    "rotation": {
                        "roll": -0.02508551999926567,
                        "pitch": -3.7321107387542725,
                        "yaw": 165.79820251464844
                    }
                },
                "velocity": {
                    "x": -2.9362173080444336,
                    "y": 0.733799934387207,
                    "z": -0.17985652387142181
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.4954631328582764,
                "transform": {
                    "location": {
                        "x": -994.9769897460938,
                        "y": 3044.865234375,
                        "z": 360.33709716796875
                    },
                    "rotation": {
                        "roll": -0.018829334527254105,
                        "pitch": -3.2726712226867676,
                        "yaw": 167.8816375732422
                    }
                },
                "velocity": {
                    "x": -2.437081813812256,
                    "y": 0.5160466432571411,
                    "z": -0.14718779921531677
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4027,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.235723495483398,
                "transform": {
                    "location": {
                        "x": -1023.8717041015625,
                        "y": 3050.857666015625,
                        "z": 358.6301574707031
                    },
                    "rotation": {
                        "roll": -0.0020751855336129665,
                        "pitch": -3.160888433456421,
                        "yaw": 167.68820190429688
                    }
                },
                "velocity": {
                    "x": -8.024206161499023,
                    "y": 1.7903944253921509,
                    "z": -0.48346540331840515
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4026,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.898766040802002,
                "transform": {
                    "location": {
                        "x": -1043.2911376953125,
                        "y": 3055.550048828125,
                        "z": 357.45745849609375
                    },
                    "rotation": {
                        "roll": -0.0003967694647144526,
                        "pitch": -3.0585312843322754,
                        "yaw": 165.21029663085938
                    }
                },
                "velocity": {
                    "x": -6.658491134643555,
                    "y": 1.768198013305664,
                    "z": -0.3618638813495636
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.09880393743515015,
        "expert_target_speed": 4.692257028274861,
        "target_point": [
            37.919187710329425,
            -1.052890589640179
        ],
        "target_point_next": [
            59.827174844942334,
            -3.0266479825605135
        ]
    },
    "85": {
        "acceleration": [
            -1.4333057403564453,
            0.2740442752838135,
            -0.08504867553710938
        ],
        "angular_velocity": [
            0.10559304058551788,
            0.49128368496894836,
            -0.14553292095661163
        ],
        "forward_vector": [
            -0.9786188006401062,
            0.19705958664417267,
            -0.05892984941601753
        ],
        "right_vector": [
            -0.19739413261413574,
            -0.9803242087364197,
            -0.0001473305601393804
        ],
        "location": [
            -1011.5162963867188,
            3048.4189453125,
            359.3331298828125
        ],
        "rotation": [
            0.008456115610897541,
            -3.3783888816833496,
            168.61488342285156
        ],
        "velocity": [
            -4.040145397186279,
            0.8097036480903625,
            -0.2422163337469101
        ],
        "speed": 4.120484780718929,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.71591567993164,
        "front_vehicle_info": {
            "id": 4027,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1025.9210205078125,
                3051.31396484375,
                358.5079345703125
            ],
            "velocity": [
                -8.081958770751953,
                1.8121927976608276,
                -0.48769262433052063
            ],
            "speed_kmh": 29.869142596900154,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.6993069648742676,
                "transform": {
                    "location": {
                        "x": -980.7138671875,
                        "y": 3041.4921875,
                        "z": 361.20050048828125
                    },
                    "rotation": {
                        "roll": -0.013427753932774067,
                        "pitch": -3.438624382019043,
                        "yaw": 165.8721923828125
                    }
                },
                "velocity": {
                    "x": -3.5829250812530518,
                    "y": 0.8943970799446106,
                    "z": -0.21811452507972717
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.147769451141357,
                "transform": {
                    "location": {
                        "x": -995.798828125,
                        "y": 3045.039306640625,
                        "z": 360.2873840332031
                    },
                    "rotation": {
                        "roll": -0.008972142823040485,
                        "pitch": -3.1148667335510254,
                        "yaw": 167.9650115966797
                    }
                },
                "velocity": {
                    "x": -4.05100679397583,
                    "y": 0.8564065098762512,
                    "z": -0.24474847316741943
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4027,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.29698371887207,
                "transform": {
                    "location": {
                        "x": -1025.9210205078125,
                        "y": 3051.31396484375,
                        "z": 358.5079345703125
                    },
                    "rotation": {
                        "roll": -0.00744629418477416,
                        "pitch": -3.318631649017334,
                        "yaw": 167.42926025390625
                    }
                },
                "velocity": {
                    "x": -8.081958770751953,
                    "y": 1.8121927976608276,
                    "z": -0.48769262433052063
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4026,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.9760422706604,
                "transform": {
                    "location": {
                        "x": -1044.940673828125,
                        "y": 3055.98876953125,
                        "z": 357.367919921875
                    },
                    "rotation": {
                        "roll": 0.0035507918801158667,
                        "pitch": -2.9721908569335938,
                        "yaw": 164.94801330566406
                    }
                },
                "velocity": {
                    "x": -6.727199554443359,
                    "y": 1.8112258911132812,
                    "z": -0.3597407341003418
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.09797260165214539,
        "expert_target_speed": 5.069644486278681,
        "target_point": [
            36.92847964760586,
            -1.0746337239660653
        ],
        "target_point_next": [
            58.835351797433425,
            -3.0607281697520072
        ]
    },
    "90": {
        "acceleration": [
            -1.9135856628417969,
            0.3706634044647217,
            -0.10642468929290771
        ],
        "angular_velocity": [
            0.06987609714269638,
            0.3036433458328247,
            0.2549087405204773
        ],
        "forward_vector": [
            -0.9788421988487244,
            0.19638320803642273,
            -0.0574595145881176
        ],
        "right_vector": [
            -0.19670721888542175,
            -0.9804622530937195,
            -1.7517711967229843e-05
        ],
        "location": [
            -1012.5751342773438,
            3048.630859375,
            359.2691650390625
        ],
        "rotation": [
            0.001005352009087801,
            -3.294002056121826,
            168.6554718017578
        ],
        "velocity": [
            -4.434530258178711,
            0.8856305480003357,
            -0.26674291491508484
        ],
        "speed": 4.52210129013647,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.631904602050781,
        "front_vehicle_info": {
            "id": 4027,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1027.8668212890625,
                3051.75341796875,
                358.3914489746094
            ],
            "velocity": [
                -7.593650817871094,
                1.766178846359253,
                -0.45932990312576294
            ],
            "speed_kmh": 28.115493972114173,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.05889892578125,
                "transform": {
                    "location": {
                        "x": -981.7843017578125,
                        "y": 3041.759521484375,
                        "z": 361.13372802734375
                    },
                    "rotation": {
                        "roll": -0.0038451808504760265,
                        "pitch": -3.055778741836548,
                        "yaw": 165.9302520751953
                    }
                },
                "velocity": {
                    "x": -4.900162696838379,
                    "y": 1.2223618030548096,
                    "z": -0.29443877935409546
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.455286502838135,
                "transform": {
                    "location": {
                        "x": -996.9987182617188,
                        "y": 3045.292724609375,
                        "z": 360.21527099609375
                    },
                    "rotation": {
                        "roll": 0.0009518028819002211,
                        "pitch": -3.129544734954834,
                        "yaw": 168.03872680664062
                    }
                },
                "velocity": {
                    "x": -5.328080177307129,
                    "y": 1.1264537572860718,
                    "z": -0.3206454813480377
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4027,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.809859275817871,
                "transform": {
                    "location": {
                        "x": -1027.8668212890625,
                        "y": 3051.75341796875,
                        "z": 358.3914489746094
                    },
                    "rotation": {
                        "roll": 0.007599820848554373,
                        "pitch": -3.4031004905700684,
                        "yaw": 167.21876525878906
                    }
                },
                "velocity": {
                    "x": -7.593650817871094,
                    "y": 1.766178846359253,
                    "z": -0.45932990312576294
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4026,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.852583408355713,
                "transform": {
                    "location": {
                        "x": -1046.7384033203125,
                        "y": 3056.473388671875,
                        "z": 357.27178955078125
                    },
                    "rotation": {
                        "roll": 0.000687868392560631,
                        "pitch": -2.888814687728882,
                        "yaw": 164.8093719482422
                    }
                },
                "velocity": {
                    "x": -7.56923770904541,
                    "y": 2.052304744720459,
                    "z": -0.39717838168144226
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0990491434931755,
        "expert_target_speed": 5.4911342455790875,
        "target_point": [
            35.84787328182458,
            -1.1013081989343343
        ],
        "target_point_next": [
            57.753332625370845,
            -3.102924916668897
        ]
    },
    "95": {
        "acceleration": [
            -2.472858428955078,
            0.4876399040222168,
            -0.09938418865203857
        ],
        "angular_velocity": [
            0.07352447509765625,
            0.29279980063438416,
            0.13799481093883514
        ],
        "forward_vector": [
            -0.9790669083595276,
            0.19568197429180145,
            -0.056005124002695084
        ],
        "right_vector": [
            -0.19599565863609314,
            -0.9806047677993774,
            0.00011061364057241008
        ],
        "location": [
            -1013.7604370117188,
            3048.867431640625,
            359.1979675292969
        ],
        "rotation": [
            -0.006347657646983862,
            -3.2105369567871094,
            168.6974639892578
        ],
        "velocity": [
            -5.032818794250488,
            1.0020843744277954,
            -0.2993653118610382
        ],
        "speed": 5.1316116483258245,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.4122257232666,
        "front_vehicle_info": {
            "id": 4027,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1029.8033447265625,
                3052.2041015625,
                358.2744140625
            ],
            "velocity": [
                -7.9352641105651855,
                1.8684589862823486,
                -0.4765682816505432
            ],
            "speed_kmh": 29.398287019507507,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.279538631439209,
                "transform": {
                    "location": {
                        "x": -983.0704345703125,
                        "y": 3042.08056640625,
                        "z": 361.0559387207031
                    },
                    "rotation": {
                        "roll": -0.0025329666677862406,
                        "pitch": -3.1917061805725098,
                        "yaw": 165.973876953125
                    }
                },
                "velocity": {
                    "x": -5.113800048828125,
                    "y": 1.2746139764785767,
                    "z": -0.31294959783554077
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.698623180389404,
                "transform": {
                    "location": {
                        "x": -998.3560791015625,
                        "y": 3045.577392578125,
                        "z": 360.1330261230469
                    },
                    "rotation": {
                        "roll": -0.019775375723838806,
                        "pitch": -3.2921783924102783,
                        "yaw": 168.13368225097656
                    }
                },
                "velocity": {
                    "x": -5.570799350738525,
                    "y": 1.1517215967178345,
                    "z": -0.33769500255584717
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4027,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.166191101074219,
                "transform": {
                    "location": {
                        "x": -1029.8033447265625,
                        "y": 3052.2041015625,
                        "z": 358.2744140625
                    },
                    "rotation": {
                        "roll": 0.003908791113644838,
                        "pitch": -3.354886293411255,
                        "yaw": 166.8701934814453
                    }
                },
                "velocity": {
                    "x": -7.9352641105651855,
                    "y": 1.8684589862823486,
                    "z": -0.4765682816505432
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4026,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.866168975830078,
                "transform": {
                    "location": {
                        "x": -1048.75439453125,
                        "y": 3057.026611328125,
                        "z": 357.1661376953125
                    },
                    "rotation": {
                        "roll": 0.0024344443809241056,
                        "pitch": -2.8211617469787598,
                        "yaw": 164.54551696777344
                    }
                },
                "velocity": {
                    "x": -8.531183242797852,
                    "y": 2.3736202716827393,
                    "z": -0.4402236044406891
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.08597414195537567,
        "expert_target_speed": 6.116257965315198,
        "target_point": [
            34.63837532258701,
            -1.1279195891834357
        ],
        "target_point_next": [
            56.542360838692424,
            -3.1456006954826012
        ]
    },
    "100": {
        "acceleration": [
            -0.4932880401611328,
            0.0652933120727539,
            -0.03973186016082764
        ],
        "angular_velocity": [
            -0.08956115692853928,
            -0.24673336744308472,
            0.21184150874614716
        ],
        "forward_vector": [
            -0.9791908860206604,
            0.19431792199611664,
            -0.05852999538183212
        ],
        "right_vector": [
            -0.1946784108877182,
            -0.9808670282363892,
            0.00046631781151518226
        ],
        "location": [
            -1014.9994506835938,
            3049.11328125,
            359.12445068359375
        ],
        "rotation": [
            -0.026763927191495895,
            -3.3554394245147705,
            168.775634765625
        ],
        "velocity": [
            -4.931621074676514,
            0.9760225415229797,
            -0.29555976390838623
        ],
        "speed": 5.027276243230971,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.188297271728516,
        "front_vehicle_info": {
            "id": 4027,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1031.78759765625,
                3052.6708984375,
                358.1553955078125
            ],
            "velocity": [
                -7.841763973236084,
                1.8528082370758057,
                -0.46711423993110657
            ],
            "speed_kmh": 29.05633936851847,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.856265544891357,
                "transform": {
                    "location": {
                        "x": -984.3684692382812,
                        "y": 3042.397705078125,
                        "z": 360.9768981933594
                    },
                    "rotation": {
                        "roll": -0.0390014685690403,
                        "pitch": -3.2821924686431885,
                        "yaw": 166.22018432617188
                    }
                },
                "velocity": {
                    "x": -5.683897972106934,
                    "y": 1.3671501874923706,
                    "z": -0.346486896276474
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.779630661010742,
                "transform": {
                    "location": {
                        "x": -1000.0211791992188,
                        "y": 3045.91845703125,
                        "z": 360.0324401855469
                    },
                    "rotation": {
                        "roll": -0.01110841054469347,
                        "pitch": -3.046926736831665,
                        "yaw": 168.43362426757812
                    }
                },
                "velocity": {
                    "x": -7.610055923461914,
                    "y": 1.548595666885376,
                    "z": -0.4599475860595703
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4027,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.071205139160156,
                "transform": {
                    "location": {
                        "x": -1031.78759765625,
                        "y": 3052.6708984375,
                        "z": 358.1553955078125
                    },
                    "rotation": {
                        "roll": -0.012512197718024254,
                        "pitch": -3.343869209289551,
                        "yaw": 166.73831176757812
                    }
                },
                "velocity": {
                    "x": -7.841763973236084,
                    "y": 1.8528082370758057,
                    "z": -0.46711423993110657
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4026,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.322315216064453,
                "transform": {
                    "location": {
                        "x": -1050.817626953125,
                        "y": 3057.6005859375,
                        "z": 357.06060791015625
                    },
                    "rotation": {
                        "roll": 0.00014181695587467402,
                        "pitch": -2.8104519844055176,
                        "yaw": 164.2875518798828
                    }
                },
                "velocity": {
                    "x": -8.002912521362305,
                    "y": 2.2469398975372314,
                    "z": -0.40691620111465454
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0754382535815239,
        "expert_target_speed": 6.039741572630144,
        "target_point": [
            33.37363551688976,
            -1.1751851579358004
        ],
        "target_point_next": [
            55.27484904382431,
            -3.222736032539819
        ]
    },
    "105": {
        "acceleration": [
            -0.09731292724609375,
            0.010781288146972656,
            -0.01086115837097168
        ],
        "angular_velocity": [
            -0.02622956596314907,
            -0.03809843212366104,
            0.18733255565166473
        ],
        "forward_vector": [
            -0.979357123374939,
            0.19351932406425476,
            -0.058394212275743484
        ],
        "right_vector": [
            -0.1938849538564682,
            -0.9810240864753723,
            0.0006077596335671842
        ],
        "location": [
            -1016.2526245117188,
            3049.36083984375,
            359.0492858886719
        ],
        "rotation": [
            -0.0348815880715847,
            -3.3476462364196777,
            168.82244873046875
        ],
        "velocity": [
            -5.097201824188232,
            1.003998875617981,
            -0.3058644235134125
        ],
        "speed": 5.19514005381472,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.907861709594727,
        "front_vehicle_info": {
            "id": 4027,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1033.7286376953125,
                3053.137451171875,
                358.0404968261719
            ],
            "velocity": [
                -7.749277114868164,
                1.9043694734573364,
                -0.4584394693374634
            ],
            "speed_kmh": 28.77480825155689,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -1040.4722900390625,
                        "y": 3074.650146484375,
                        "z": 356.6406555175781
                    },
                    "rotation": {
                        "roll": -4.1690573215902305e-10,
                        "pitch": -0.616028368473053,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4038,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -1311.6011962890625,
                        "y": 3080.990966796875,
                        "z": 346.2933044433594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.5789483785629272,
                        "yaw": 177.47254943847656
                    }
                },
                "velocity": {
                    "x": 3.4129721271369817e-10,
                    "y": -1.5065110617329402e-11,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4037,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -1263.8331298828125,
                        "y": 3079.639892578125,
                        "z": 348.05780029296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.604426145553589,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 1.4503873657645272e-09,
                    "y": -3.2400193639148256e-11,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4036,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -1235.840087890625,
                        "y": 3079.0146484375,
                        "z": 349.4162902832031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.8959386348724365,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 1.773803437465915e-09,
                    "y": -3.962498384968427e-11,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4035,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -1205.84765625,
                        "y": 3078.34423828125,
                        "z": 351.00714111328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.154447555541992,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 2.466118198540812e-09,
                    "y": -5.509059874952982e-11,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4034,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -1157.859619140625,
                        "y": 3077.2724609375,
                        "z": 353.23980712890625
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 8.877267254625565e-10,
                    "y": -1.983091815760396e-11,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -1116.5272216796875,
                        "y": 3076.349365234375,
                        "z": 354.7469177246094
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 8.877267254625565e-10,
                    "y": -1.983091815760396e-11,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4032,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -1092.533203125,
                        "y": 3075.81298828125,
                        "z": 355.56756591796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.720210313796997,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 4.0534547940396237e-10,
                    "y": -9.055009346503606e-12,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -1062.52978515625,
                        "y": 3075.14306640625,
                        "z": 356.2969970703125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0719298124313354,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.452022552490234,
                "transform": {
                    "location": {
                        "x": -986.0302734375,
                        "y": 3042.797119140625,
                        "z": 360.87445068359375
                    },
                    "rotation": {
                        "roll": -0.02655029483139515,
                        "pitch": -2.9171736240386963,
                        "yaw": 166.4562530517578
                    }
                },
                "velocity": {
                    "x": -7.235326290130615,
                    "y": 1.728825330734253,
                    "z": -0.44029074907302856
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.88914155960083,
                "transform": {
                    "location": {
                        "x": -1001.8307495117188,
                        "y": 3046.2861328125,
                        "z": 359.92315673828125
                    },
                    "rotation": {
                        "roll": 0.0019911611452698708,
                        "pitch": -3.459995985031128,
                        "yaw": 168.4813232421875
                    }
                },
                "velocity": {
                    "x": -6.7396392822265625,
                    "y": 1.3681939840316772,
                    "z": -0.40691080689430237
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4027,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.993002414703369,
                "transform": {
                    "location": {
                        "x": -1033.7286376953125,
                        "y": 3053.137451171875,
                        "z": 358.0404968261719
                    },
                    "rotation": {
                        "roll": 0.00399959459900856,
                        "pitch": -3.299220323562622,
                        "yaw": 166.42404174804688
                    }
                },
                "velocity": {
                    "x": -7.749277114868164,
                    "y": 1.9043694734573364,
                    "z": -0.4584394693374634
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4026,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.194266319274902,
                "transform": {
                    "location": {
                        "x": -1052.793212890625,
                        "y": 3058.158447265625,
                        "z": 356.96136474609375
                    },
                    "rotation": {
                        "roll": 0.0009336707298643887,
                        "pitch": -2.7600998878479004,
                        "yaw": 164.07301330566406
                    }
                },
                "velocity": {
                    "x": -7.8672380447387695,
                    "y": 2.257716417312622,
                    "z": -0.3940631151199341
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.05780450999736786,
        "expert_target_speed": 6.22157744950059,
        "target_point": [
            32.09527205939861,
            -1.2025253826847795
        ],
        "target_point_next": [
            53.99480481070591,
            -3.2679754089239488
        ]
    },
    "110": {
        "acceleration": [
            -3.0530738830566406,
            0.7768797874450684,
            -0.17942428588867188
        ],
        "angular_velocity": [
            0.14327572286128998,
            0.1536606252193451,
            -1.1688752174377441
        ],
        "forward_vector": [
            -0.9789791107177734,
            0.19680307805538177,
            -0.0535576269030571
        ],
        "right_vector": [
            -0.19708164036273956,
            -0.9803870916366577,
            -8.199735748348758e-05
        ],
        "location": [
            -1017.7036743164062,
            3049.6533203125,
            358.9612121582031
        ],
        "rotation": [
            0.004704855382442474,
            -3.0700948238372803,
            168.63339233398438
        ],
        "velocity": [
            -6.307474613189697,
            1.2917840480804443,
            -0.3784744143486023
        ],
        "speed": 6.438395920018248,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.14649847149848938,
                "transform": {
                    "location": {
                        "x": -1040.471923828125,
                        "y": 3074.650146484375,
                        "z": 356.4285888671875
                    },
                    "rotation": {
                        "roll": -0.0005493159987963736,
                        "pitch": -0.5498028993606567,
                        "yaw": 178.72023010253906
                    }
                },
                "velocity": {
                    "x": 0.0014332460705190897,
                    "y": -0.00018261367222294211,
                    "z": -0.14649134874343872
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4038,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.148681640625,
                        "y": 3081.107421875,
                        "z": 346.06048583984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.4258360862731934,
                        "yaw": 177.3032989501953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4037,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1267.98828125,
                        "y": 3079.732666015625,
                        "z": 347.70233154296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.478149652481079,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4036,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1238.311767578125,
                        "y": 3079.069580078125,
                        "z": 349.1151123046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.8573548793792725,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4035,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1208.2501220703125,
                        "y": 3078.397705078125,
                        "z": 350.6980285644531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.1450493335723877,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4034,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1162.01220703125,
                        "y": 3077.365234375,
                        "z": 352.9217834472656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.255096197128296,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1120.6781005859375,
                        "y": 3076.44189453125,
                        "z": 354.45928955078125
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4032,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1096.6927490234375,
                        "y": 3075.90576171875,
                        "z": 355.2635192871094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.8150339126586914,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.22562232613563538,
                "transform": {
                    "location": {
                        "x": -1062.52783203125,
                        "y": 3075.14306640625,
                        "z": 356.1031494140625
                    },
                    "rotation": {
                        "roll": 3.5312248655827716e-05,
                        "pitch": -1.1029388904571533,
                        "yaw": 178.72015380859375
                    }
                },
                "velocity": {
                    "x": 0.0040303245186805725,
                    "y": -0.0002249896788271144,
                    "z": -0.22558622062206268
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.97715425491333,
                "transform": {
                    "location": {
                        "x": -987.8065185546875,
                        "y": 3043.221435546875,
                        "z": 360.7679138183594
                    },
                    "rotation": {
                        "roll": -0.010070773772895336,
                        "pitch": -3.3114871978759766,
                        "yaw": 166.56727600097656
                    }
                },
                "velocity": {
                    "x": -6.775489330291748,
                    "y": 1.6136329174041748,
                    "z": -0.4118396043777466
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.5999165773391724,
                "transform": {
                    "location": {
                        "x": -1002.7269287109375,
                        "y": 3046.468994140625,
                        "z": 359.86846923828125
                    },
                    "rotation": {
                        "roll": -0.009826689958572388,
                        "pitch": -4.390500068664551,
                        "yaw": 168.74945068359375
                    }
                },
                "velocity": {
                    "x": -0.5865173935890198,
                    "y": 0.12115141749382019,
                    "z": -0.034922342747449875
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.054000020027160645,
        "expert_target_speed": 20.0,
        "target_point": [
            30.61883229792212,
            -1.0958509467066673
        ],
        "target_point_next": [
            52.525061207325166,
            -3.089027683804087
        ]
    },
    "115": {
        "acceleration": [
            -1.126413345336914,
            0.36677122116088867,
            -0.05843698978424072
        ],
        "angular_velocity": [
            -0.088780477643013,
            -0.45902442932128906,
            -1.237264633178711
        ],
        "forward_vector": [
            -0.9778545498847961,
            0.20194768905639648,
            -0.054933059960603714
        ],
        "right_vector": [
            -0.20223340392112732,
            -0.9793372750282288,
            -0.00036520231515169144
        ],
        "location": [
            -1019.3436279296875,
            3049.992431640625,
            358.8631286621094
        ],
        "rotation": [
            0.020956194028258324,
            -3.149017572402954,
            168.3312530517578
        ],
        "velocity": [
            -6.748642921447754,
            1.4177924394607544,
            -0.4045611619949341
        ],
        "speed": 6.895963796497118,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.04545803368091583,
                "transform": {
                    "location": {
                        "x": -1040.471923828125,
                        "y": 3074.650146484375,
                        "z": 356.4342041015625
                    },
                    "rotation": {
                        "roll": 7.220732186397072e-06,
                        "pitch": -0.557582437992096,
                        "yaw": 178.72019958496094
                    }
                },
                "velocity": {
                    "x": -0.0004680099373217672,
                    "y": 7.224205910461023e-05,
                    "z": 0.04545556753873825
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4038,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1318.391845703125,
                        "y": 3081.311767578125,
                        "z": 345.94244384765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.2071539163589478,
                        "yaw": 177.0615234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4037,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1272.230712890625,
                        "y": 3079.827392578125,
                        "z": 347.50518798828125
                    },
                    "rotation": {
                        "roll": -1.6689581938678089e-09,
                        "pitch": -2.3733267784118652,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4036,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1242.5533447265625,
                        "y": 3079.16455078125,
                        "z": 348.89764404296875
                    },
                    "rotation": {
                        "roll": -3.3390665787891294e-09,
                        "pitch": -2.809420585632324,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4035,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1212.490966796875,
                        "y": 3078.49267578125,
                        "z": 350.4594421386719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.0971081256866455,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4034,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1166.2554931640625,
                        "y": 3077.460205078125,
                        "z": 352.7351379394531
                    },
                    "rotation": {
                        "roll": 3.3379254915644196e-09,
                        "pitch": -2.3771309852600098,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1124.920654296875,
                        "y": 3076.536865234375,
                        "z": 354.2616271972656
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4032,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1100.92333984375,
                        "y": 3076.00048828125,
                        "z": 355.1182861328125
                    },
                    "rotation": {
                        "roll": 3.336934728537244e-09,
                        "pitch": -1.9241529703140259,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.034316789358854294,
                "transform": {
                    "location": {
                        "x": -1062.527587890625,
                        "y": 3075.14306640625,
                        "z": 356.09564208984375
                    },
                    "rotation": {
                        "roll": 0.0015262812376022339,
                        "pitch": -1.1073853969573975,
                        "yaw": 178.7200927734375
                    }
                },
                "velocity": {
                    "x": -0.0006999922916293144,
                    "y": 0.000289821473415941,
                    "z": 0.03430842608213425
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.5132811069488525,
                "transform": {
                    "location": {
                        "x": -989.2262573242188,
                        "y": 3043.5546875,
                        "z": 360.6849670410156
                    },
                    "rotation": {
                        "roll": -0.020538315176963806,
                        "pitch": -4.240870952606201,
                        "yaw": 166.81182861328125
                    }
                },
                "velocity": {
                    "x": -3.417043447494507,
                    "y": 0.7891895174980164,
                    "z": -0.21009066700935364
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.2397819757461548,
                "transform": {
                    "location": {
                        "x": -1002.8734741210938,
                        "y": 3046.498291015625,
                        "z": 359.8599853515625
                    },
                    "rotation": {
                        "roll": -0.0034179664216935635,
                        "pitch": -3.627349376678467,
                        "yaw": 168.73756408691406
                    }
                },
                "velocity": {
                    "x": -1.2140331268310547,
                    "y": 0.240940123796463,
                    "z": -0.07162821292877197
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.044802453368902206,
        "expert_target_speed": 20.0,
        "target_point": [
            28.949537865857053,
            -0.9339548874846217
        ],
        "target_point_next": [
            50.86597284440751,
            -2.8115854069006296
        ]
    },
    "120": {
        "acceleration": [
            -1.4377880096435547,
            0.27271270751953125,
            -0.09028911590576172
        ],
        "angular_velocity": [
            -0.26646408438682556,
            -0.16306449472904205,
            -0.5120906829833984
        ],
        "forward_vector": [
            -0.9768449664115906,
            0.20644469559192657,
            -0.056164611130952835
        ],
        "right_vector": [
            -0.20675547420978546,
            -0.9783925414085388,
            -0.00028330969507806003
        ],
        "location": [
            -1021.0767822265625,
            3050.359375,
            358.75933837890625
        ],
        "rotation": [
            0.016258113086223602,
            -3.2196896076202393,
            168.06680297851562
        ],
        "velocity": [
            -7.091246604919434,
            1.5075050592422485,
            -0.4258868992328644
        ],
        "speed": 7.249713781620787,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.2559925317764282,
                "transform": {
                    "location": {
                        "x": -1040.6258544921875,
                        "y": 3074.654296875,
                        "z": 356.4385070800781
                    },
                    "rotation": {
                        "roll": 0.0011334377340972424,
                        "pitch": -0.49355626106262207,
                        "yaw": 178.75543212890625
                    }
                },
                "velocity": {
                    "x": -1.2553985118865967,
                    "y": 0.03861217945814133,
                    "z": -0.0009087466751225293
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4038,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1322.63525390625,
                        "y": 3081.53076171875,
                        "z": 345.8537292480469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.9884580969810486,
                        "yaw": 176.8197784423828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4037,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1276.4737548828125,
                        "y": 3079.92236328125,
                        "z": 347.3274841308594
                    },
                    "rotation": {
                        "roll": -1.6688344040005632e-09,
                        "pitch": -2.268462896347046,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4036,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1246.794921875,
                        "y": 3079.25927734375,
                        "z": 348.68780517578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.783540964126587,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4035,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1216.731201171875,
                        "y": 3078.58740234375,
                        "z": 350.228515625
                    },
                    "rotation": {
                        "roll": -3.339781340372383e-09,
                        "pitch": -3.049187421798706,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4034,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1170.4981689453125,
                        "y": 3077.554931640625,
                        "z": 352.5605773925781
                    },
                    "rotation": {
                        "roll": 3.3379254915644196e-09,
                        "pitch": -2.3771309852600098,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1129.163818359375,
                        "y": 3076.631591796875,
                        "z": 354.1011962890625
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4032,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1105.166748046875,
                        "y": 3076.09521484375,
                        "z": 354.9715881347656
                    },
                    "rotation": {
                        "roll": -1.6685771653257575e-09,
                        "pitch": -2.0333540439605713,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.1936554908752441,
                "transform": {
                    "location": {
                        "x": -1062.655029296875,
                        "y": 3075.145751953125,
                        "z": 356.09771728515625
                    },
                    "rotation": {
                        "roll": 0.002773918444290757,
                        "pitch": -0.8086533546447754,
                        "yaw": 178.70079040527344
                    }
                },
                "velocity": {
                    "x": -1.1933369636535645,
                    "y": 0.02754071168601513,
                    "z": 0.0013810062082484365
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.40342435240745544,
                "transform": {
                    "location": {
                        "x": -989.4494018554688,
                        "y": 3043.6064453125,
                        "z": 360.6738586425781
                    },
                    "rotation": {
                        "roll": 0.0005174449179321527,
                        "pitch": -4.944667339324951,
                        "yaw": 166.86618041992188
                    }
                },
                "velocity": {
                    "x": -0.39290502667427063,
                    "y": 0.08837669342756271,
                    "z": -0.023799099028110504
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.695368528366089,
                "transform": {
                    "location": {
                        "x": -1003.3603515625,
                        "y": 3046.59521484375,
                        "z": 359.8307800292969
                    },
                    "rotation": {
                        "roll": 0.0061953142285346985,
                        "pitch": -3.2239105701446533,
                        "yaw": 168.7537384033203
                    }
                },
                "velocity": {
                    "x": -2.63896107673645,
                    "y": 0.5250426530838013,
                    "z": -0.15882812440395355
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.04366679489612579,
        "expert_target_speed": 20.0,
        "target_point": [
            27.18196703109028,
            -0.7996859918104589
        ],
        "target_point_next": [
            49.10683439867656,
            -2.576145800030835
        ]
    },
    "125": {
        "acceleration": [
            0.24007797241210938,
            0.03422975540161133,
            0.005385279655456543
        ],
        "angular_velocity": [
            -0.0526176318526268,
            -0.44485604763031006,
            -0.4381047189235687
        ],
        "forward_vector": [
            -0.97647625207901,
            0.2077556550502777,
            -0.05772003158926964
        ],
        "right_vector": [
            -0.20810365676879883,
            -0.9781067371368408,
            1.8610617189551704e-05
        ],
        "location": [
            -1022.8683471679688,
            3050.740234375,
            358.652099609375
        ],
        "rotation": [
            -0.0010680905543267727,
            -3.308953285217285,
            167.9888153076172
        ],
        "velocity": [
            -7.196437835693359,
            1.540059208869934,
            -0.43137121200561523
        ],
        "speed": 7.359381760027401,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.016439437866211,
                "transform": {
                    "location": {
                        "x": -1041.0057373046875,
                        "y": 3074.664306640625,
                        "z": 356.4358825683594
                    },
                    "rotation": {
                        "roll": -0.0014343260554596782,
                        "pitch": -0.5119636058807373,
                        "yaw": 178.81033325195312
                    }
                },
                "velocity": {
                    "x": -2.015949249267578,
                    "y": 0.04004957526922226,
                    "z": -0.01930585317313671
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4038,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1326.8780517578125,
                        "y": 3081.763916015625,
                        "z": 345.779052734375
                    },
                    "rotation": {
                        "roll": 3.335353992994783e-09,
                        "pitch": -0.769775927066803,
                        "yaw": 176.5779571533203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4037,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1280.7161865234375,
                        "y": 3080.01708984375,
                        "z": 347.15814208984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.1635990142822266,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4036,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1251.03564453125,
                        "y": 3079.354248046875,
                        "z": 348.48101806640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.783540964126587,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4035,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1220.970947265625,
                        "y": 3078.682373046875,
                        "z": 350.0016784667969
                    },
                    "rotation": {
                        "roll": 3.339633902754713e-09,
                        "pitch": -3.001253366470337,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4034,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1174.739990234375,
                        "y": 3077.649658203125,
                        "z": 352.3795166015625
                    },
                    "rotation": {
                        "roll": -1.6691140691804662e-09,
                        "pitch": -2.499084234237671,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1133.4071044921875,
                        "y": 3076.72607421875,
                        "z": 353.9460754394531
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4032,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1109.41015625,
                        "y": 3076.190185546875,
                        "z": 354.8207702636719
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.083941698074341,
                "transform": {
                    "location": {
                        "x": -1063.0679931640625,
                        "y": 3075.155029296875,
                        "z": 356.0933532714844
                    },
                    "rotation": {
                        "roll": 0.0029062870889902115,
                        "pitch": -0.7217323780059814,
                        "yaw": 178.68258666992188
                    }
                },
                "velocity": {
                    "x": -2.083167791366577,
                    "y": 0.047303326427936554,
                    "z": -0.03142431750893593
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.5200682878494263,
                "transform": {
                    "location": {
                        "x": -989.7203979492188,
                        "y": 3043.66845703125,
                        "z": 360.65283203125
                    },
                    "rotation": {
                        "roll": -0.002197269583120942,
                        "pitch": -3.694148540496826,
                        "yaw": 166.98410034179688
                    }
                },
                "velocity": {
                    "x": -1.4798786640167236,
                    "y": 0.335475355386734,
                    "z": -0.08956999331712723
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.124308109283447,
                "transform": {
                    "location": {
                        "x": -1004.2202758789062,
                        "y": 3046.7666015625,
                        "z": 359.7789306640625
                    },
                    "rotation": {
                        "roll": 0.008905984461307526,
                        "pitch": -3.1275570392608643,
                        "yaw": 168.75234985351562
                    }
                },
                "velocity": {
                    "x": -4.0380473136901855,
                    "y": 0.8029319643974304,
                    "z": -0.24370749294757843
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.024266062304377556,
        "expert_target_speed": 20.0,
        "target_point": [
            25.351430106474968,
            -0.7630000087031528
        ],
        "target_point_next": [
            47.27869474271834,
            -2.509620777107939
        ]
    },
    "130": {
        "acceleration": [
            -0.9282112121582031,
            0.2786707878112793,
            -0.07302701473236084
        ],
        "angular_velocity": [
            0.021262357011437416,
            0.0212776530534029,
            -0.560645580291748
        ],
        "forward_vector": [
            -0.975931704044342,
            0.21003298461437225,
            -0.05868089571595192
        ],
        "right_vector": [
            -0.2104019671678543,
            -0.9776149988174438,
            0.00011165998148499057
        ],
        "location": [
            -1024.6766357421875,
            3051.12890625,
            358.5436096191406
        ],
        "rotation": [
            -0.006408689543604851,
            -3.364100217819214,
            167.85446166992188
        ],
        "velocity": [
            -7.295402526855469,
            1.5808669328689575,
            -0.43935707211494446
        ],
        "speed": 7.464719571979089,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.218625068664551,
                "transform": {
                    "location": {
                        "x": -1041.6951904296875,
                        "y": 3074.67919921875,
                        "z": 356.4279479980469
                    },
                    "rotation": {
                        "roll": -0.0029296877328306437,
                        "pitch": -0.5284448862075806,
                        "yaw": 178.8646240234375
                    }
                },
                "velocity": {
                    "x": -3.2176342010498047,
                    "y": 0.06960854679346085,
                    "z": -0.03914758935570717
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4038,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1331.1201171875,
                        "y": 3082.0146484375,
                        "z": 345.71990966796875
                    },
                    "rotation": {
                        "roll": 1.6676037217777662e-09,
                        "pitch": -0.551086962223053,
                        "yaw": 176.33619689941406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4037,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1284.9578857421875,
                        "y": 3080.11181640625,
                        "z": 346.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.1635990142822266,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4036,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1255.2757568359375,
                        "y": 3079.448974609375,
                        "z": 348.27490234375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.783540964126587,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4035,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1225.2100830078125,
                        "y": 3078.77734375,
                        "z": 349.7779541015625
                    },
                    "rotation": {
                        "roll": 3.339633902754713e-09,
                        "pitch": -3.001253366470337,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4034,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1178.9808349609375,
                        "y": 3077.744384765625,
                        "z": 352.19036865234375
                    },
                    "rotation": {
                        "roll": -3.3385456621459753e-09,
                        "pitch": -2.621091842651367,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1137.6492919921875,
                        "y": 3076.82080078125,
                        "z": 353.7913513183594
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4032,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1113.6531982421875,
                        "y": 3076.284912109375,
                        "z": 354.6662292480469
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.4073519706726074,
                "transform": {
                    "location": {
                        "x": -1063.7518310546875,
                        "y": 3075.170654296875,
                        "z": 356.0810852050781
                    },
                    "rotation": {
                        "roll": 0.00011380534124327824,
                        "pitch": -0.6196893453598022,
                        "yaw": 178.69024658203125
                    }
                },
                "velocity": {
                    "x": -3.4059054851531982,
                    "y": 0.07654131948947906,
                    "z": -0.06321737915277481
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.5703141689300537,
                "transform": {
                    "location": {
                        "x": -990.2185668945312,
                        "y": 3043.781494140625,
                        "z": 360.6209411621094
                    },
                    "rotation": {
                        "roll": -0.006744380574673414,
                        "pitch": -3.2310822010040283,
                        "yaw": 167.05702209472656
                    }
                },
                "velocity": {
                    "x": -2.502354621887207,
                    "y": 0.5672743320465088,
                    "z": -0.15144579112529755
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.046985626220703,
                "transform": {
                    "location": {
                        "x": -1005.2274780273438,
                        "y": 3046.966796875,
                        "z": 359.71820068359375
                    },
                    "rotation": {
                        "roll": 0.010089823044836521,
                        "pitch": -3.3396549224853516,
                        "yaw": 168.7506866455078
                    }
                },
                "velocity": {
                    "x": -3.9621098041534424,
                    "y": 0.7890176773071289,
                    "z": -0.23922769725322723
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.009300152771174908,
        "expert_target_speed": 20.0,
        "target_point": [
            23.503562400919737,
            -0.704029396329438
        ],
        "target_point_next": [
            45.434862714186416,
            -2.3992241066153444
        ]
    },
    "135": {
        "acceleration": [
            -0.49713134765625,
            0.24337291717529297,
            -0.009156465530395508
        ],
        "angular_velocity": [
            0.016802364960312843,
            0.0407458171248436,
            -1.0286083221435547
        ],
        "forward_vector": [
            -0.9751430749893188,
            0.2137240469455719,
            -0.05846407264471054
        ],
        "right_vector": [
            -0.21408139169216156,
            -0.9768158793449402,
            -0.00015462793817277998
        ],
        "location": [
            -1026.5234375,
            3051.533447265625,
            358.4324645996094
        ],
        "rotation": [
            0.008874708786606789,
            -3.3516557216644287,
            167.63784790039062
        ],
        "velocity": [
            -7.4749603271484375,
            1.6571077108383179,
            -0.4492073655128479
        ],
        "speed": 7.656437674125146,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.660590171813965,
                "transform": {
                    "location": {
                        "x": -1042.6702880859375,
                        "y": 3074.69970703125,
                        "z": 356.41650390625
                    },
                    "rotation": {
                        "roll": -3.051740350201726e-05,
                        "pitch": -0.5991510152816772,
                        "yaw": 178.7173309326172
                    }
                },
                "velocity": {
                    "x": -4.659126281738281,
                    "y": 0.10186472535133362,
                    "z": -0.05714557692408562
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4037,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1289.202880859375,
                        "y": 3080.213623046875,
                        "z": 346.8387756347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.058741807937622,
                        "yaw": 178.51222229003906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4036,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1259.51806640625,
                        "y": 3079.54345703125,
                        "z": 348.07232666015625
                    },
                    "rotation": {
                        "roll": 6.677452368819559e-09,
                        "pitch": -2.687856912612915,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4035,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1229.450439453125,
                        "y": 3078.871826171875,
                        "z": 349.5575256347656
                    },
                    "rotation": {
                        "roll": -3.339488463538487e-09,
                        "pitch": -2.9532439708709717,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4034,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1183.2216796875,
                        "y": 3077.838623046875,
                        "z": 351.993896484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.743065357208252,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1141.890869140625,
                        "y": 3076.91552734375,
                        "z": 353.63665771484375
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4032,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1117.896728515625,
                        "y": 3076.3798828125,
                        "z": 354.5115661621094
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.79184103012085,
                "transform": {
                    "location": {
                        "x": -1064.7884521484375,
                        "y": 3075.194091796875,
                        "z": 356.0611572265625
                    },
                    "rotation": {
                        "roll": 0.00020691091776825488,
                        "pitch": -0.5411080718040466,
                        "yaw": 178.700927734375
                    }
                },
                "velocity": {
                    "x": -4.789721965789795,
                    "y": 0.108650803565979,
                    "z": -0.09218128025531769
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.054675102233887,
                "transform": {
                    "location": {
                        "x": -991.0311279296875,
                        "y": 3043.966064453125,
                        "z": 360.5704345703125
                    },
                    "rotation": {
                        "roll": -0.00463870307430625,
                        "pitch": -2.9516592025756836,
                        "yaw": 167.13021850585938
                    }
                },
                "velocity": {
                    "x": -3.9476325511932373,
                    "y": 0.8935577869415283,
                    "z": -0.2411264032125473
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.664502143859863,
                "transform": {
                    "location": {
                        "x": -1006.2673950195312,
                        "y": 3047.173583984375,
                        "z": 359.65570068359375
                    },
                    "rotation": {
                        "roll": 0.009573807939887047,
                        "pitch": -3.296194553375244,
                        "yaw": 168.74595642089844
                    }
                },
                "velocity": {
                    "x": -4.566873550415039,
                    "y": 0.9086095094680786,
                    "z": -0.275088906288147
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0017184600001201034,
        "expert_target_speed": 20.0,
        "target_point": [
            21.615466343446077,
            -0.6153810680701559
        ],
        "target_point_next": [
            43.55301915330467,
            -2.2276450821626437
        ]
    },
    "140": {
        "acceleration": [
            -1.2036323547363281,
            0.4462885856628418,
            -0.0615769624710083
        ],
        "angular_velocity": [
            0.06767391413450241,
            0.10361365973949432,
            -1.1047499179840088
        ],
        "forward_vector": [
            -0.9741446375846863,
            0.2183266133069992,
            -0.05810074508190155
        ],
        "right_vector": [
            -0.21867424249649048,
            -0.9757978320121765,
            -0.00038348324596881866
        ],
        "location": [
            -1028.421630859375,
            3051.957763671875,
            358.3179626464844
        ],
        "rotation": [
            0.022009151056408882,
            -3.330803155899048,
            167.36753845214844
        ],
        "velocity": [
            -7.703124046325684,
            1.7461332082748413,
            -0.46415016055107117
        ],
        "speed": 7.89855057932284,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 149.87875366210938,
        "front_vehicle_info": {
            "id": 4048,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1170.7611083984375,
                3098.56591796875,
                352.7689514160156
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 4051,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.470000147819519,
                "transform": {
                    "location": {
                        "x": -1026.271484375,
                        "y": 3077.834228515625,
                        "z": 356.8439636230469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.25598180294036865,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -1.470000147819519
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.470000147819519,
                "transform": {
                    "location": {
                        "x": -1026.193359375,
                        "y": 3081.3330078125,
                        "z": 356.8439636230469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.25598180294036865,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -1.470000147819519
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4049,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1170.8394775390625,
                        "y": 3095.06640625,
                        "z": 352.7689514160156
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4048,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1170.7611083984375,
                        "y": 3098.56591796875,
                        "z": 352.7689514160156
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4047,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1170.6829833984375,
                        "y": 3102.06494140625,
                        "z": 352.7689514160156
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4046,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1170.6048583984375,
                        "y": 3105.56396484375,
                        "z": 352.7689514160156
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1385.13134765625,
                        "y": 3086.510009765625,
                        "z": 345.7106628417969
                    },
                    "rotation": {
                        "roll": -3.335308695895378e-09,
                        "pitch": 0.7094721794128418,
                        "yaw": 173.91842651367188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1384.7646484375,
                        "y": 3089.990478515625,
                        "z": 345.7103576660156
                    },
                    "rotation": {
                        "roll": -3.335308695895378e-09,
                        "pitch": 0.7094721794128418,
                        "yaw": 173.91842651367188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1383.990478515625,
                        "y": 3093.427978515625,
                        "z": 345.76239013671875
                    },
                    "rotation": {
                        "roll": -3.335308695895378e-09,
                        "pitch": 0.7094721794128418,
                        "yaw": 173.91842651367188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.561346530914307,
                "transform": {
                    "location": {
                        "x": -1043.9547119140625,
                        "y": 3074.72802734375,
                        "z": 356.40142822265625
                    },
                    "rotation": {
                        "roll": 0.001440277323126793,
                        "pitch": -0.7188978791236877,
                        "yaw": 178.66372680664062
                    }
                },
                "velocity": {
                    "x": -5.559489727020264,
                    "y": 0.12347838282585144,
                    "z": -0.07348446547985077
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4037,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1293.448486328125,
                        "y": 3080.32958984375,
                        "z": 346.6902770996094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9539121389389038,
                        "yaw": 178.27044677734375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4036,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1263.761962890625,
                        "y": 3079.638427734375,
                        "z": 347.8764343261719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.5830066204071045,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4035,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1233.693115234375,
                        "y": 3078.966552734375,
                        "z": 349.3401794433594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.9053027629852295,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4034,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1187.46533203125,
                        "y": 3077.93359375,
                        "z": 351.7889709472656
                    },
                    "rotation": {
                        "roll": -3.33922711703849e-09,
                        "pitch": -2.8651139736175537,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1146.136474609375,
                        "y": 3077.010498046875,
                        "z": 353.48187255859375
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4032,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1122.1414794921875,
                        "y": 3076.474609375,
                        "z": 354.3567810058594
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.377767562866211,
                "transform": {
                    "location": {
                        "x": -1066.099609375,
                        "y": 3075.223388671875,
                        "z": 356.0360412597656
                    },
                    "rotation": {
                        "roll": -0.00024413972278125584,
                        "pitch": -0.742946982383728,
                        "yaw": 178.6997528076172
                    }
                },
                "velocity": {
                    "x": -5.3753461837768555,
                    "y": 0.11881205439567566,
                    "z": -0.10917619615793228
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.294091701507568,
                "transform": {
                    "location": {
                        "x": -992.1912841796875,
                        "y": 3044.228759765625,
                        "z": 360.4998474121094
                    },
                    "rotation": {
                        "roll": 0.006422535050660372,
                        "pitch": -2.8838491439819336,
                        "yaw": 167.20114135742188
                    }
                },
                "velocity": {
                    "x": -5.155020236968994,
                    "y": 1.1646761894226074,
                    "z": -0.3109729290008545
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.891928672790527,
                "transform": {
                    "location": {
                        "x": -1007.4811401367188,
                        "y": 3047.415283203125,
                        "z": 359.5827941894531
                    },
                    "rotation": {
                        "roll": -0.0014648399082943797,
                        "pitch": -3.3562591075897217,
                        "yaw": 168.89752197265625
                    }
                },
                "velocity": {
                    "x": -4.789700984954834,
                    "y": 0.9515207409858704,
                    "z": -0.29041481018066406
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.01060665026307106,
        "expert_target_speed": 20.0,
        "target_point": [
            19.673088864693785,
            -0.5144781844519972
        ],
        "target_point_next": [
            41.618003887412364,
            -2.0232270641974903
        ]
    },
    "145": {
        "acceleration": [
            -0.7115745544433594,
            0.4035520553588867,
            -0.0452190637588501
        ],
        "angular_velocity": [
            0.1306789368391037,
            0.08404131233692169,
            -1.6147750616073608
        ],
        "forward_vector": [
            -0.9728490710258484,
            0.22413289546966553,
            -0.057698845863342285
        ],
        "right_vector": [
            -0.22445756196975708,
            -0.9744834899902344,
            -0.0008750357083044946
        ],
        "location": [
            -1030.376953125,
            3052.40673828125,
            358.20025634765625
        ],
        "rotation": [
            0.05021952465176582,
            -3.3077375888824463,
            167.026123046875
        ],
        "velocity": [
            -7.930164813995361,
            1.854365348815918,
            -0.4758049547672272
        ],
        "speed": 8.144088949908348,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 145.90370178222656,
        "front_vehicle_info": {
            "id": 4048,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1168.6900634765625,
                3098.51953125,
                352.6340026855469
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 4051,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.04068303480744362,
                "transform": {
                    "location": {
                        "x": -1026.2706298828125,
                        "y": 3077.834228515625,
                        "z": 356.5135192871094
                    },
                    "rotation": {
                        "roll": 0.001605443423613906,
                        "pitch": -0.31082141399383545,
                        "yaw": 178.7201385498047
                    }
                },
                "velocity": {
                    "x": 0.0002036432852037251,
                    "y": 0.00011932088091270998,
                    "z": -0.0406823493540287
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.056429095566272736,
                "transform": {
                    "location": {
                        "x": -1026.1925048828125,
                        "y": 3081.3330078125,
                        "z": 356.5023498535156
                    },
                    "rotation": {
                        "roll": -0.0006713867769576609,
                        "pitch": -0.29156026244163513,
                        "yaw": 178.7200927734375
                    }
                },
                "velocity": {
                    "x": 0.00025034300051629543,
                    "y": 0.00033385216374881566,
                    "z": -0.05642755329608917
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4049,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1168.7684326171875,
                        "y": 3095.020263671875,
                        "z": 352.6340637207031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4048,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1168.6900634765625,
                        "y": 3098.51953125,
                        "z": 352.6340026855469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4047,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1168.6119384765625,
                        "y": 3102.018798828125,
                        "z": 352.6340026855469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4046,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1168.5338134765625,
                        "y": 3105.517333984375,
                        "z": 352.6340026855469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1386.3668212890625,
                        "y": 3086.64208984375,
                        "z": 345.6682434082031
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1386.000244140625,
                        "y": 3090.123291015625,
                        "z": 345.6677551269531
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1385.226806640625,
                        "y": 3093.55908203125,
                        "z": 345.661865234375
                    },
                    "rotation": {
                        "roll": -3.335308695895378e-09,
                        "pitch": 0.7094721794128418,
                        "yaw": 173.91842651367188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.930727958679199,
                "transform": {
                    "location": {
                        "x": -1045.7191162109375,
                        "y": 3074.767822265625,
                        "z": 356.3771667480469
                    },
                    "rotation": {
                        "roll": 0.0016335907857865095,
                        "pitch": -0.641115665435791,
                        "yaw": 178.69825744628906
                    }
                },
                "velocity": {
                    "x": -7.928004741668701,
                    "y": 0.1782192587852478,
                    "z": -0.10688084363937378
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4037,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1297.694091796875,
                        "y": 3080.4609375,
                        "z": 346.546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9224181175231934,
                        "yaw": 178.02867126464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4036,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1268.0059814453125,
                        "y": 3079.733154296875,
                        "z": 347.68682861328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.478149652481079,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4035,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1237.93603515625,
                        "y": 3079.0615234375,
                        "z": 349.125732421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.8573548793792725,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4034,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1191.7083740234375,
                        "y": 3078.0283203125,
                        "z": 351.57720947265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.987053394317627,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1150.3814697265625,
                        "y": 3077.10546875,
                        "z": 353.3270568847656
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4032,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1126.3868408203125,
                        "y": 3076.569580078125,
                        "z": 354.2020263671875
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.820754528045654,
                "transform": {
                    "location": {
                        "x": -1067.5816650390625,
                        "y": 3075.256103515625,
                        "z": 356.0054626464844
                    },
                    "rotation": {
                        "roll": -0.0021362302359193563,
                        "pitch": -0.6795355081558228,
                        "yaw": 178.73838806152344
                    }
                },
                "velocity": {
                    "x": -6.817667007446289,
                    "y": 0.15070635080337524,
                    "z": -0.13927417993545532
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.087685585021973,
                "transform": {
                    "location": {
                        "x": -993.1624145507812,
                        "y": 3044.4462890625,
                        "z": 360.4430847167969
                    },
                    "rotation": {
                        "roll": 0.006706251762807369,
                        "pitch": -3.5552635192871094,
                        "yaw": 167.10543823242188
                    }
                },
                "velocity": {
                    "x": -3.9876534938812256,
                    "y": 0.8655865788459778,
                    "z": -0.24197834730148315
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.125426769256592,
                "transform": {
                    "location": {
                        "x": -1008.7271118164062,
                        "y": 3047.664306640625,
                        "z": 359.50811767578125
                    },
                    "rotation": {
                        "roll": 0.013782690279185772,
                        "pitch": -3.369994640350342,
                        "yaw": 168.7210235595703
                    }
                },
                "velocity": {
                    "x": -5.017063140869141,
                    "y": 1.0039621591567993,
                    "z": -0.3018878698348999
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.01092547457665205,
        "expert_target_speed": 20.0,
        "target_point": [
            17.669599480524244,
            -0.3987147202596457
        ],
        "target_point_next": [
            39.62311484703741,
            -1.776677560376445
        ]
    },
    "150": {
        "acceleration": [
            -1.7889595031738281,
            0.7159042358398438,
            -0.04781603813171387
        ],
        "angular_velocity": [
            0.22227656841278076,
            0.44550979137420654,
            -1.8077003955841064
        ],
        "forward_vector": [
            -0.9711832404136658,
            0.23153305053710938,
            -0.05652845650911331
        ],
        "right_vector": [
            -0.23182977735996246,
            -0.9727554321289062,
            -0.0013414615532383323
        ],
        "location": [
            -1032.4010009765625,
            3052.88720703125,
            358.0789794921875
        ],
        "rotation": [
            0.07698320597410202,
            -3.2405693531036377,
            166.5908203125
        ],
        "velocity": [
            -8.265044212341309,
            1.9997289180755615,
            -0.48894795775413513
        ],
        "speed": 8.503521128200024,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 141.84002685546875,
        "front_vehicle_info": {
            "id": 4048,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1166.6087646484375,
                3098.47265625,
                352.70916748046875
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 4051,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.31046321988105774,
                "transform": {
                    "location": {
                        "x": -1026.2763671875,
                        "y": 3077.834228515625,
                        "z": 356.5439758300781
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": -0.28207314014434814,
                        "yaw": 178.71275329589844
                    }
                },
                "velocity": {
                    "x": -0.2938985228538513,
                    "y": 0.0025030814576894045,
                    "z": 0.10002406686544418
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.29247182607650757,
                "transform": {
                    "location": {
                        "x": -1026.197021484375,
                        "y": 3081.3330078125,
                        "z": 356.5333251953125
                    },
                    "rotation": {
                        "roll": -0.00091552734375,
                        "pitch": -0.2840333878993988,
                        "yaw": 178.72491455078125
                    }
                },
                "velocity": {
                    "x": -0.27302855253219604,
                    "y": 0.0009754386264830828,
                    "z": 0.1048533245921135
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4049,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1166.6871337890625,
                        "y": 3094.973388671875,
                        "z": 352.70916748046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4048,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1166.6087646484375,
                        "y": 3098.47265625,
                        "z": 352.70916748046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4047,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1166.5306396484375,
                        "y": 3101.971923828125,
                        "z": 352.70916748046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4046,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1166.4525146484375,
                        "y": 3105.470458984375,
                        "z": 352.70916748046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1387.1949462890625,
                        "y": 3086.7314453125,
                        "z": 345.6771545410156
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1386.828369140625,
                        "y": 3090.21337890625,
                        "z": 345.6767883300781
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1386.054931640625,
                        "y": 3093.6494140625,
                        "z": 345.67108154296875
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.326165199279785,
                "transform": {
                    "location": {
                        "x": -1047.888671875,
                        "y": 3074.81640625,
                        "z": 356.34820556640625
                    },
                    "rotation": {
                        "roll": 0.0005092923529446125,
                        "pitch": -0.6651579141616821,
                        "yaw": 178.7130126953125
                    }
                },
                "velocity": {
                    "x": -9.322986602783203,
                    "y": 0.20938889682292938,
                    "z": -0.12425355613231659
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4037,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1301.939208984375,
                        "y": 3080.6064453125,
                        "z": 346.4056701660156
                    },
                    "rotation": {
                        "roll": -3.3368174889858437e-09,
                        "pitch": -1.8632686138153076,
                        "yaw": 177.78689575195312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4036,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1272.2506103515625,
                        "y": 3079.827392578125,
                        "z": 347.5035400390625
                    },
                    "rotation": {
                        "roll": -1.6689581938678089e-09,
                        "pitch": -2.3733267784118652,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4035,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1242.1793212890625,
                        "y": 3079.15625,
                        "z": 348.9141845703125
                    },
                    "rotation": {
                        "roll": -3.3390665787891294e-09,
                        "pitch": -2.809420585632324,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4034,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1195.951416015625,
                        "y": 3078.123291015625,
                        "z": 351.3582763671875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.109067678451538,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1154.626953125,
                        "y": 3077.2001953125,
                        "z": 353.1722717285156
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4032,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1130.6326904296875,
                        "y": 3076.664306640625,
                        "z": 354.0472106933594
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.236650466918945,
                "transform": {
                    "location": {
                        "x": -1069.4688720703125,
                        "y": 3075.298095703125,
                        "z": 355.9658508300781
                    },
                    "rotation": {
                        "roll": -0.0021972651593387127,
                        "pitch": -0.6080575585365295,
                        "yaw": 178.753173828125
                    }
                },
                "velocity": {
                    "x": -8.232824325561523,
                    "y": 0.18096810579299927,
                    "z": -0.1739715337753296
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.437229156494141,
                "transform": {
                    "location": {
                        "x": -994.3380126953125,
                        "y": 3044.702392578125,
                        "z": 360.3703918457031
                    },
                    "rotation": {
                        "roll": -0.02572629600763321,
                        "pitch": -3.0973198413848877,
                        "yaw": 167.49978637695312
                    }
                },
                "velocity": {
                    "x": -5.305271625518799,
                    "y": 1.146722435951233,
                    "z": -0.32028618454933167
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.897347450256348,
                "transform": {
                    "location": {
                        "x": -1010.067138671875,
                        "y": 3047.933349609375,
                        "z": 359.4274597167969
                    },
                    "rotation": {
                        "roll": 0.02138913795351982,
                        "pitch": -3.2622005939483643,
                        "yaw": 168.61016845703125
                    }
                },
                "velocity": {
                    "x": -5.771461009979248,
                    "y": 1.1612796783447266,
                    "z": -0.34695592522621155
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.004484282340854406,
        "expert_target_speed": 20.0,
        "target_point": [
            15.591826454940199,
            -0.266472813521339
        ],
        "target_point_next": [
            37.55517713112127,
            -1.4776068323519063
        ]
    },
    "155": {
        "acceleration": [
            -1.4562225341796875,
            0.6300973892211914,
            -0.018352270126342773
        ],
        "angular_velocity": [
            0.24669890105724335,
            0.30565640330314636,
            -1.839102029800415
        ],
        "forward_vector": [
            -0.9693962335586548,
            0.23930421471595764,
            -0.054812245070934296
        ],
        "right_vector": [
            -0.23957142233848572,
            -0.9708772301673889,
            -0.0017399343196302652
        ],
        "location": [
            -1034.520263671875,
            3053.4072265625,
            357.9533996582031
        ],
        "rotation": [
            0.09984104335308075,
            -3.142084836959839,
            166.1332550048828
        ],
        "velocity": [
            -8.669318199157715,
            2.1684727668762207,
            -0.5095857381820679
        ],
        "speed": 8.936405998998199,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 137.6784210205078,
        "front_vehicle_info": {
            "id": 4048,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1164.5274658203125,
                3098.4267578125,
                352.7843322753906
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 4051,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.7530490159988403,
                "transform": {
                    "location": {
                        "x": -1026.574951171875,
                        "y": 3077.837646484375,
                        "z": 356.5552978515625
                    },
                    "rotation": {
                        "roll": -0.0018615724984556437,
                        "pitch": -0.1386733204126358,
                        "yaw": 178.8424835205078
                    }
                },
                "velocity": {
                    "x": -1.7527750730514526,
                    "y": 0.029032422229647636,
                    "z": 0.010836810804903507
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.5481294393539429,
                "transform": {
                    "location": {
                        "x": -1026.491943359375,
                        "y": 3081.335205078125,
                        "z": 356.5451965332031
                    },
                    "rotation": {
                        "roll": -0.0018310550367459655,
                        "pitch": -0.24178868532180786,
                        "yaw": 178.7662353515625
                    }
                },
                "velocity": {
                    "x": -1.5479844808578491,
                    "y": 0.018384141847491264,
                    "z": 0.010516452603042126
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4049,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1164.6058349609375,
                        "y": 3094.927734375,
                        "z": 352.7843017578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4048,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1164.5274658203125,
                        "y": 3098.4267578125,
                        "z": 352.7843322753906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4047,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1164.4493408203125,
                        "y": 3101.925537109375,
                        "z": 352.7843322753906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4046,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1164.3712158203125,
                        "y": 3105.425048828125,
                        "z": 352.7843322753906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1388.4371337890625,
                        "y": 3086.86669921875,
                        "z": 345.6904602050781
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1388.070556640625,
                        "y": 3090.3486328125,
                        "z": 345.6903381347656
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1387.297119140625,
                        "y": 3093.784423828125,
                        "z": 345.6851501464844
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 10.494552612304688,
                "transform": {
                    "location": {
                        "x": -1050.375732421875,
                        "y": 3074.8720703125,
                        "z": 356.3128967285156
                    },
                    "rotation": {
                        "roll": 0.00014774563896935433,
                        "pitch": -0.7780746221542358,
                        "yaw": 178.71676635742188
                    }
                },
                "velocity": {
                    "x": -10.490610122680664,
                    "y": 0.23324111104011536,
                    "z": -0.16832253336906433
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4037,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1306.183837890625,
                        "y": 3080.76611328125,
                        "z": 346.2681579589844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.6445318460464478,
                        "yaw": 177.54510498046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4036,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1276.4951171875,
                        "y": 3079.92236328125,
                        "z": 347.3265686035156
                    },
                    "rotation": {
                        "roll": -1.6688344040005632e-09,
                        "pitch": -2.268462896347046,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4035,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1246.4229736328125,
                        "y": 3079.2509765625,
                        "z": 348.7054138183594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.783540964126587,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4034,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1200.194091796875,
                        "y": 3078.218017578125,
                        "z": 351.1319580078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.109067678451538,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1158.872314453125,
                        "y": 3077.295166015625,
                        "z": 353.0169372558594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.133115768432617,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4032,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1134.8779296875,
                        "y": 3076.759033203125,
                        "z": 353.8924255371094
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.474778175354004,
                "transform": {
                    "location": {
                        "x": -1071.6258544921875,
                        "y": 3075.345947265625,
                        "z": 355.9190979003906
                    },
                    "rotation": {
                        "roll": -0.0006103516789153218,
                        "pitch": -0.6849040389060974,
                        "yaw": 178.75881958007812
                    }
                },
                "velocity": {
                    "x": -9.470078468322754,
                    "y": 0.20994456112384796,
                    "z": -0.2120324671268463
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.847480773925781,
                "transform": {
                    "location": {
                        "x": -995.6736450195312,
                        "y": 3044.9912109375,
                        "z": 360.289794921875
                    },
                    "rotation": {
                        "roll": -0.012634260579943657,
                        "pitch": -3.2131667137145996,
                        "yaw": 167.6833953857422
                    }
                },
                "velocity": {
                    "x": -5.706787109375,
                    "y": 1.2269068956375122,
                    "z": -0.3468548357486725
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.320688247680664,
                "transform": {
                    "location": {
                        "x": -1011.7072143554688,
                        "y": 3048.263427734375,
                        "z": 359.3291015625
                    },
                    "rotation": {
                        "roll": 0.012776232324540615,
                        "pitch": -3.115262746810913,
                        "yaw": 168.6114044189453
                    }
                },
                "velocity": {
                    "x": -7.164119720458984,
                    "y": 1.4431796073913574,
                    "z": -0.4302351176738739
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.007188722491264343,
        "expert_target_speed": 20.0,
        "target_point": [
            13.411328662763898,
            -0.14499495298843446
        ],
        "target_point_next": [
            35.38365105783358,
            -1.1806913870808717
        ]
    },
    "160": {
        "acceleration": [
            -1.9742202758789062,
            0.7609224319458008,
            -0.0772249698638916
        ],
        "angular_velocity": [
            0.22078925371170044,
            0.4434652328491211,
            -1.519368052482605
        ],
        "forward_vector": [
            -0.9677020311355591,
            0.2463815063238144,
            -0.05337465927004814
        ],
        "right_vector": [
            -0.2466394305229187,
            -0.9691056609153748,
            -0.001802549115382135
        ],
        "location": [
            -1036.746826171875,
            3053.970458984375,
            357.82379150390625
        ],
        "rotation": [
            0.10342594236135483,
            -3.0595967769622803,
            165.71571350097656
        ],
        "velocity": [
            -9.115470886230469,
            2.342956781387329,
            -0.5260886549949646
        ],
        "speed": 9.411761575665002,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 133.4058380126953,
        "front_vehicle_info": {
            "id": 4048,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1162.4461669921875,
                3098.3798828125,
                352.8642578125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 4051,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.1296091079711914,
                "transform": {
                    "location": {
                        "x": -1027.1827392578125,
                        "y": 3077.84619140625,
                        "z": 356.5543212890625
                    },
                    "rotation": {
                        "roll": -0.004577635787427425,
                        "pitch": -0.12628336250782013,
                        "yaw": 179.023193359375
                    }
                },
                "velocity": {
                    "x": -3.129262685775757,
                    "y": 0.044407181441783905,
                    "z": -0.014029741287231445
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.6640751361846924,
                "transform": {
                    "location": {
                        "x": -1027.0198974609375,
                        "y": 3081.3447265625,
                        "z": 356.5442199707031
                    },
                    "rotation": {
                        "roll": -0.0038757326547056437,
                        "pitch": -0.2471640408039093,
                        "yaw": 178.96446228027344
                    }
                },
                "velocity": {
                    "x": -2.6638519763946533,
                    "y": 0.032118119299411774,
                    "z": -0.012559251859784126
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4049,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1162.5245361328125,
                        "y": 3094.880859375,
                        "z": 352.86419677734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4048,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1162.4461669921875,
                        "y": 3098.3798828125,
                        "z": 352.8642578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4047,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1162.3680419921875,
                        "y": 3101.878662109375,
                        "z": 352.8642578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4046,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1162.2899169921875,
                        "y": 3105.378173828125,
                        "z": 352.8642578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.2652587890625,
                        "y": 3086.95654296875,
                        "z": 345.69940185546875
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1388.898681640625,
                        "y": 3090.4384765625,
                        "z": 345.69940185546875
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1388.125244140625,
                        "y": 3093.874267578125,
                        "z": 345.6944885253906
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.874528884887695,
                "transform": {
                    "location": {
                        "x": -1052.9329833984375,
                        "y": 3074.928955078125,
                        "z": 356.2721862792969
                    },
                    "rotation": {
                        "roll": -0.0007019045297056437,
                        "pitch": -0.9994478821754456,
                        "yaw": 178.72796630859375
                    }
                },
                "velocity": {
                    "x": -9.870609283447266,
                    "y": 0.2210366576910019,
                    "z": -0.16894470155239105
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4037,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1310.42822265625,
                        "y": 3080.94091796875,
                        "z": 346.14111328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.6445318460464478,
                        "yaw": 177.54510498046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4036,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1280.739501953125,
                        "y": 3080.01708984375,
                        "z": 347.1572265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.1635990142822266,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4035,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1250.66552734375,
                        "y": 3079.34521484375,
                        "z": 348.4989318847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.783540964126587,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4034,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1204.4356689453125,
                        "y": 3078.31298828125,
                        "z": 350.8994140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.154447555541992,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1163.1168212890625,
                        "y": 3077.389892578125,
                        "z": 352.8562316894531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.255096197128296,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4032,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1139.123046875,
                        "y": 3076.85400390625,
                        "z": 353.7376403808594
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.67529010772705,
                "transform": {
                    "location": {
                        "x": -1074.1588134765625,
                        "y": 3075.401611328125,
                        "z": 355.8619384765625
                    },
                    "rotation": {
                        "roll": -0.0019226063741371036,
                        "pitch": -0.7638199925422668,
                        "yaw": 178.74600219726562
                    }
                },
                "velocity": {
                    "x": -10.669836044311523,
                    "y": 0.23486873507499695,
                    "z": -0.2475002259016037
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.6616597175598145,
                "transform": {
                    "location": {
                        "x": -997.3623046875,
                        "y": 3045.354248046875,
                        "z": 360.186279296875
                    },
                    "rotation": {
                        "roll": 0.0035586196463555098,
                        "pitch": -2.862518548965454,
                        "yaw": 167.83596801757812
                    }
                },
                "velocity": {
                    "x": -7.478766918182373,
                    "y": 1.6012110710144043,
                    "z": -0.4529878795146942
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.702890396118164,
                "transform": {
                    "location": {
                        "x": -1013.4135131835938,
                        "y": 3048.609619140625,
                        "z": 359.2264404296875
                    },
                    "rotation": {
                        "roll": 0.028738556429743767,
                        "pitch": -3.417997121810913,
                        "yaw": 168.5083770751953
                    }
                },
                "velocity": {
                    "x": -6.5547356605529785,
                    "y": 1.344982385635376,
                    "z": -0.39395377039909363
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.020178750157356262,
        "expert_target_speed": 20.0,
        "target_point": [
            11.115336180303624,
            -0.05080309047304343
        ],
        "target_point_next": [
            33.09462270164442,
            -0.9263500905131874
        ]
    },
    "165": {
        "acceleration": [
            -1.4403533935546875,
            0.5865192413330078,
            -0.05509614944458008
        ],
        "angular_velocity": [
            0.04552898555994034,
            0.2345137894153595,
            -1.3927830457687378
        ],
        "forward_vector": [
            -0.9661818146705627,
            0.25255656242370605,
            -0.05203744396567345
        ],
        "right_vector": [
            -0.25280600786209106,
            -0.9675152897834778,
            -0.001840221113525331
        ],
        "location": [
            -1039.0804443359375,
            3054.576416015625,
            357.6904602050781
        ],
        "rotation": [
            0.10558000952005386,
            -2.9828732013702393,
            165.35086059570312
        ],
        "velocity": [
            -9.52733039855957,
            2.5090861320495605,
            -0.540127158164978
        ],
        "speed": 9.852184414705233,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 129.02365112304688,
        "front_vehicle_info": {
            "id": 4048,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1160.3648681640625,
                3098.333251953125,
                352.94366455078125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 4051,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.650479316711426,
                "transform": {
                    "location": {
                        "x": -1028.1688232421875,
                        "y": 3077.85986328125,
                        "z": 356.54937744140625
                    },
                    "rotation": {
                        "roll": -0.005371092818677425,
                        "pitch": -0.13022437691688538,
                        "yaw": 179.13536071777344
                    }
                },
                "velocity": {
                    "x": -4.649975776672363,
                    "y": 0.06302239000797272,
                    "z": -0.02672186866402626
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.6696343421936035,
                "transform": {
                    "location": {
                        "x": -1027.825439453125,
                        "y": 3081.35498046875,
                        "z": 356.5401916503906
                    },
                    "rotation": {
                        "roll": -0.002685546875,
                        "pitch": -0.28011971712112427,
                        "yaw": 178.99899291992188
                    }
                },
                "velocity": {
                    "x": -3.6692728996276855,
                    "y": 0.04714089632034302,
                    "z": -0.02075960673391819
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4049,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1160.4432373046875,
                        "y": 3094.834228515625,
                        "z": 352.94366455078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4048,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1160.3648681640625,
                        "y": 3098.333251953125,
                        "z": 352.94366455078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4047,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1160.2867431640625,
                        "y": 3101.83251953125,
                        "z": 352.94366455078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4046,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1160.2086181640625,
                        "y": 3105.33154296875,
                        "z": 352.94366455078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.009521484375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 10.031512260437012,
                "transform": {
                    "location": {
                        "x": -1055.3865966796875,
                        "y": 3074.98388671875,
                        "z": 356.2299499511719
                    },
                    "rotation": {
                        "roll": -0.00018310487212147564,
                        "pitch": -0.9711298942565918,
                        "yaw": 178.72100830078125
                    }
                },
                "velocity": {
                    "x": -10.027563095092773,
                    "y": 0.22375230491161346,
                    "z": -0.17071422934532166
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4037,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.672119140625,
                        "y": 3081.131103515625,
                        "z": 346.0284423828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.4258360862731934,
                        "yaw": 177.3032989501953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4036,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1284.98388671875,
                        "y": 3080.112060546875,
                        "z": 346.9934387207031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.1635990142822266,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4035,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1254.908203125,
                        "y": 3079.440185546875,
                        "z": 348.2927551269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.783540964126587,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4034,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1208.6771240234375,
                        "y": 3078.40771484375,
                        "z": 350.6659240722656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.1450493335723877,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1167.36083984375,
                        "y": 3077.48486328125,
                        "z": 352.68865966796875
                    },
                    "rotation": {
                        "roll": 3.3379254915644196e-09,
                        "pitch": -2.3771309852600098,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4032,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1143.36767578125,
                        "y": 3076.948974609375,
                        "z": 353.5827941894531
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 11.72301197052002,
                "transform": {
                    "location": {
                        "x": -1076.9615478515625,
                        "y": 3075.463623046875,
                        "z": 355.7964782714844
                    },
                    "rotation": {
                        "roll": 0.003160405671223998,
                        "pitch": -0.8514718413352966,
                        "yaw": 178.72052001953125
                    }
                },
                "velocity": {
                    "x": -11.716629028320312,
                    "y": 0.2632467448711395,
                    "z": -0.28337547183036804
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.731851577758789,
                "transform": {
                    "location": {
                        "x": -999.2905883789062,
                        "y": 3045.760009765625,
                        "z": 360.07073974609375
                    },
                    "rotation": {
                        "roll": -0.04504397138953209,
                        "pitch": -3.138765335083008,
                        "yaw": 168.15362548828125
                    }
                },
                "velocity": {
                    "x": -7.558676719665527,
                    "y": 1.5618419647216797,
                    "z": -0.4567152261734009
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.68886137008667,
                "transform": {
                    "location": {
                        "x": -1015.0239868164062,
                        "y": 3048.94189453125,
                        "z": 359.12994384765625
                    },
                    "rotation": {
                        "roll": 0.017888443544507027,
                        "pitch": -3.4022810459136963,
                        "yaw": 168.35940551757812
                    }
                },
                "velocity": {
                    "x": -6.538633823394775,
                    "y": 1.3542319536209106,
                    "z": -0.39139777421951294
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.03134791553020477,
        "expert_target_speed": 20.0,
        "target_point": [
            8.70442988677986,
            0.01607145219887185
        ],
        "target_point_next": [
            30.688846327429747,
            -0.7194911219954481
        ]
    },
    "170": {
        "acceleration": [
            -1.7586135864257812,
            0.7854127883911133,
            -0.08796215057373047
        ],
        "angular_velocity": [
            0.24216508865356445,
            0.29265540838241577,
            -1.5062130689620972
        ],
        "forward_vector": [
            -0.9646742939949036,
            0.25846901535987854,
            -0.05096348375082016
        ],
        "right_vector": [
            -0.25870954990386963,
            -0.9659532308578491,
            -0.001933265826664865
        ],
        "location": [
            -1041.5179443359375,
            3055.225341796875,
            357.55401611328125
        ],
        "rotation": [
            0.11091216653585434,
            -2.921257972717285,
            165.0008087158203
        ],
        "velocity": [
            -9.942667961120605,
            2.6843292713165283,
            -0.5538398027420044
        ],
        "speed": 10.298653786876269,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 124.5354232788086,
        "front_vehicle_info": {
            "id": 4048,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1158.2835693359375,
                3098.287109375,
                353.0213928222656
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 4051,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.436188697814941,
                "transform": {
                    "location": {
                        "x": -1029.46923828125,
                        "y": 3077.876708984375,
                        "z": 356.5414123535156
                    },
                    "rotation": {
                        "roll": -0.005889892112463713,
                        "pitch": -0.21771226823329926,
                        "yaw": 179.22032165527344
                    }
                },
                "velocity": {
                    "x": -5.435635089874268,
                    "y": 0.07012984156608582,
                    "z": -0.03311785310506821
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.074044704437256,
                "transform": {
                    "location": {
                        "x": -1028.9044189453125,
                        "y": 3081.37158203125,
                        "z": 356.5335388183594
                    },
                    "rotation": {
                        "roll": -0.005065917037427425,
                        "pitch": -0.2752634286880493,
                        "yaw": 179.33985900878906
                    }
                },
                "velocity": {
                    "x": -5.073538780212402,
                    "y": 0.06417550146579742,
                    "z": -0.03190211206674576
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4049,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1158.3619384765625,
                        "y": 3094.787841796875,
                        "z": 353.0213928222656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4048,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1158.2835693359375,
                        "y": 3098.287109375,
                        "z": 353.0213928222656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4047,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1158.2054443359375,
                        "y": 3101.785888671875,
                        "z": 353.0213928222656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4046,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1158.1273193359375,
                        "y": 3105.284912109375,
                        "z": 353.0213928222656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 11.155913352966309,
                "transform": {
                    "location": {
                        "x": -1058.0345458984375,
                        "y": 3075.042724609375,
                        "z": 356.18359375
                    },
                    "rotation": {
                        "roll": 5.372105442802422e-05,
                        "pitch": -0.9590404629707336,
                        "yaw": 178.73060607910156
                    }
                },
                "velocity": {
                    "x": -11.151312828063965,
                    "y": 0.2471877932548523,
                    "z": -0.20376792550086975
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4037,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1318.9158935546875,
                        "y": 3081.338134765625,
                        "z": 345.9300231933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.2071539163589478,
                        "yaw": 177.0615234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4036,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1289.228271484375,
                        "y": 3080.214111328125,
                        "z": 346.837890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.058741807937622,
                        "yaw": 178.51222229003906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4035,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1259.1510009765625,
                        "y": 3079.534912109375,
                        "z": 348.08990478515625
                    },
                    "rotation": {
                        "roll": 6.677452368819559e-09,
                        "pitch": -2.687856912612915,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4034,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1212.9183349609375,
                        "y": 3078.502685546875,
                        "z": 350.43414306640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.0971081256866455,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1171.6044921875,
                        "y": 3077.57958984375,
                        "z": 352.5124816894531
                    },
                    "rotation": {
                        "roll": -1.6691140691804662e-09,
                        "pitch": -2.499084234237671,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4032,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1147.612060546875,
                        "y": 3077.0439453125,
                        "z": 353.4280700683594
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 12.754034996032715,
                "transform": {
                    "location": {
                        "x": -1080.0235595703125,
                        "y": 3075.5322265625,
                        "z": 355.7213134765625
                    },
                    "rotation": {
                        "roll": 0.0011405046097934246,
                        "pitch": -1.0104923248291016,
                        "yaw": 178.7194366455078
                    }
                },
                "velocity": {
                    "x": -12.746731758117676,
                    "y": 0.2850494086742401,
                    "z": -0.3240154981613159
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.013378620147705,
                "transform": {
                    "location": {
                        "x": -1001.0719604492188,
                        "y": 3046.126220703125,
                        "z": 359.964599609375
                    },
                    "rotation": {
                        "roll": -0.019012397155165672,
                        "pitch": -3.5394585132598877,
                        "yaw": 168.37672424316406
                    }
                },
                "velocity": {
                    "x": -6.860069274902344,
                    "y": 1.3984771966934204,
                    "z": -0.4137495458126068
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.826365947723389,
                "transform": {
                    "location": {
                        "x": -1016.792236328125,
                        "y": 3049.30859375,
                        "z": 359.02386474609375
                    },
                    "rotation": {
                        "roll": 0.004777604714035988,
                        "pitch": -3.2091095447540283,
                        "yaw": 168.28599548339844
                    }
                },
                "velocity": {
                    "x": -7.649416446685791,
                    "y": 1.5899097919464111,
                    "z": -0.458933025598526
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.04483918473124504,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            28.170270790535533,
            -0.5359997758425985
        ],
        "target_point_next": [
            79.48663491826963,
            3.1293416608498354
        ]
    },
    "175": {
        "acceleration": [
            -0.25745391845703125,
            0.4318809509277344,
            0.03682732582092285
        ],
        "angular_velocity": [
            0.16355879604816437,
            -0.005743791814893484,
            -1.9997057914733887
        ],
        "forward_vector": [
            -0.9626345634460449,
            0.2660432755947113,
            -0.0505533404648304
        ],
        "right_vector": [
            -0.2662624716758728,
            -0.9638974070549011,
            -0.0024721066001802683
        ],
        "location": [
            -1044.0377197265625,
            3055.9150390625,
            357.4158630371094
        ],
        "rotation": [
            0.14182275533676147,
            -2.897728204727173,
            164.55079650878906
        ],
        "velocity": [
            -10.153087615966797,
            2.830272674560547,
            -0.5514262914657593
        ],
        "speed": 10.540191248258376,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 119.96231842041016,
        "front_vehicle_info": {
            "id": 4048,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1156.2022705078125,
                3098.240234375,
                353.0974426269531
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 4051,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.533863544464111,
                "transform": {
                    "location": {
                        "x": -1030.8905029296875,
                        "y": 3077.89501953125,
                        "z": 356.5324401855469
                    },
                    "rotation": {
                        "roll": -0.00616455078125,
                        "pitch": -0.19177120923995972,
                        "yaw": 179.2691192626953
                    }
                },
                "velocity": {
                    "x": -6.533229351043701,
                    "y": 0.0814262256026268,
                    "z": -0.04067021608352661
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.854533672332764,
                "transform": {
                    "location": {
                        "x": -1030.3009033203125,
                        "y": 3081.388916015625,
                        "z": 356.5244445800781
                    },
                    "rotation": {
                        "roll": -0.0054931640625,
                        "pitch": -0.22872936725616455,
                        "yaw": 179.38868713378906
                    }
                },
                "velocity": {
                    "x": -6.853916645050049,
                    "y": 0.08155592530965805,
                    "z": -0.04252270236611366
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4049,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1156.2806396484375,
                        "y": 3094.740966796875,
                        "z": 353.0974426269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4048,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1156.2022705078125,
                        "y": 3098.240234375,
                        "z": 353.0974426269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4047,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1156.1241455078125,
                        "y": 3101.7392578125,
                        "z": 353.0974426269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4046,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1156.0460205078125,
                        "y": 3105.238037109375,
                        "z": 353.0974426269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 11.87857437133789,
                "transform": {
                    "location": {
                        "x": -1060.92822265625,
                        "y": 3075.107177734375,
                        "z": 356.130615234375
                    },
                    "rotation": {
                        "roll": 0.0003706516872625798,
                        "pitch": -1.0358595848083496,
                        "yaw": 178.71853637695312
                    }
                },
                "velocity": {
                    "x": -11.873497009277344,
                    "y": 0.2654954195022583,
                    "z": -0.22383737564086914
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4037,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1323.1591796875,
                        "y": 3081.559326171875,
                        "z": 345.8446044921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.9884580969810486,
                        "yaw": 176.8197784423828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4036,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1293.4727783203125,
                        "y": 3080.330322265625,
                        "z": 346.6894836425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9539121389389038,
                        "yaw": 178.27044677734375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4035,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1263.3936767578125,
                        "y": 3079.6298828125,
                        "z": 347.8935546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.5830066204071045,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4034,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1217.1590576171875,
                        "y": 3078.597412109375,
                        "z": 350.2049560546875
                    },
                    "rotation": {
                        "roll": -3.339781340372383e-09,
                        "pitch": -3.049187421798706,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1175.84765625,
                        "y": 3077.674560546875,
                        "z": 352.32958984375
                    },
                    "rotation": {
                        "roll": -3.3385456621459753e-09,
                        "pitch": -2.621091842651367,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4032,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1151.856689453125,
                        "y": 3077.138671875,
                        "z": 353.2732238769531
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.773343086242676,
                "transform": {
                    "location": {
                        "x": -1083.34228515625,
                        "y": 3075.606689453125,
                        "z": 355.6355895996094
                    },
                    "rotation": {
                        "roll": 0.000669747416395694,
                        "pitch": -1.044404149055481,
                        "yaw": 178.71383666992188
                    }
                },
                "velocity": {
                    "x": -13.764994621276855,
                    "y": 0.30896976590156555,
                    "z": -0.36663803458213806
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.043443202972412,
                "transform": {
                    "location": {
                        "x": -1002.6085815429688,
                        "y": 3046.439697265625,
                        "z": 359.8726501464844
                    },
                    "rotation": {
                        "roll": 0.003812286304309964,
                        "pitch": -3.7627511024475098,
                        "yaw": 168.42611694335938
                    }
                },
                "velocity": {
                    "x": -5.911828517913818,
                    "y": 1.2027512788772583,
                    "z": -0.3562033772468567
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.389028549194336,
                "transform": {
                    "location": {
                        "x": -1018.815185546875,
                        "y": 3049.734375,
                        "z": 358.9024963378906
                    },
                    "rotation": {
                        "roll": 0.027859721332788467,
                        "pitch": -3.2628495693206787,
                        "yaw": 168.07284545898438
                    }
                },
                "velocity": {
                    "x": -8.189892768859863,
                    "y": 1.7490700483322144,
                    "z": -0.4921511113643646
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.07003986835479736,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            25.5611590150758,
            -0.3211867111829596
        ],
        "target_point_next": [
            76.8471531838988,
            3.7470754796282435
        ]
    },
    "180": {
        "acceleration": [
            0.13174057006835938,
            0.3708505630493164,
            0.08812308311462402
        ],
        "angular_velocity": [
            0.15200351178646088,
            -0.05707796663045883,
            -2.1045072078704834
        ],
        "forward_vector": [
            -0.9601805806159973,
            0.2747509479522705,
            -0.05064751207828522
        ],
        "right_vector": [
            -0.27495768666267395,
            -0.9614517688751221,
            -0.0029761609621345997
        ],
        "location": [
            -1046.5838623046875,
            3056.635498046875,
            357.27935791015625
        ],
        "rotation": [
            0.17074084281921387,
            -2.9031307697296143,
            164.0317840576172
        ],
        "velocity": [
            -10.171541213989258,
            2.934018850326538,
            -0.5387868881225586
        ],
        "speed": 10.586251332835127,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 115.36127471923828,
        "front_vehicle_info": {
            "id": 4048,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1154.1209716796875,
                3098.1943359375,
                353.1736145019531
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 4055,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1170.0137939453125,
                        "y": 3095.04833984375,
                        "z": 352.65753173828125
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4054,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1169.9354248046875,
                        "y": 3098.54736328125,
                        "z": 352.6575012207031
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4053,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1169.8572998046875,
                        "y": 3102.04638671875,
                        "z": 352.6575012207031
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1169.7791748046875,
                        "y": 3105.545654296875,
                        "z": 352.6575012207031
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.054465293884277,
                "transform": {
                    "location": {
                        "x": -1032.7655029296875,
                        "y": 3077.921142578125,
                        "z": 356.5206604003906
                    },
                    "rotation": {
                        "roll": 0.006416456773877144,
                        "pitch": -0.13479377329349518,
                        "yaw": 179.1812744140625
                    }
                },
                "velocity": {
                    "x": -8.053330421447754,
                    "y": 0.12573425471782684,
                    "z": -0.04974924400448799
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.28371524810791,
                "transform": {
                    "location": {
                        "x": -1032.21728515625,
                        "y": 3081.4130859375,
                        "z": 356.5126037597656
                    },
                    "rotation": {
                        "roll": 0.0017473073676228523,
                        "pitch": -0.24389921128749847,
                        "yaw": 179.25746154785156
                    }
                },
                "velocity": {
                    "x": -8.282466888427734,
                    "y": 0.1341138780117035,
                    "z": -0.05189213529229164
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4049,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1154.1993408203125,
                        "y": 3094.69482421875,
                        "z": 353.1736145019531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4048,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1154.1209716796875,
                        "y": 3098.1943359375,
                        "z": 353.1736145019531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4047,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1154.0428466796875,
                        "y": 3101.693115234375,
                        "z": 353.1736145019531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4046,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1153.9647216796875,
                        "y": 3105.192138671875,
                        "z": 353.1736145019531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 13.301323890686035,
                "transform": {
                    "location": {
                        "x": -1064.105224609375,
                        "y": 3075.177978515625,
                        "z": 356.06976318359375
                    },
                    "rotation": {
                        "roll": -0.0010070792632177472,
                        "pitch": -1.029630422592163,
                        "yaw": 178.72296142578125
                    }
                },
                "velocity": {
                    "x": -13.29554557800293,
                    "y": 0.29651960730552673,
                    "z": -0.2564533054828644
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4037,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1327.4017333984375,
                        "y": 3081.795166015625,
                        "z": 345.7720947265625
                    },
                    "rotation": {
                        "roll": 3.335353992994783e-09,
                        "pitch": -0.769775927066803,
                        "yaw": 176.5779571533203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4036,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1297.716552734375,
                        "y": 3080.4619140625,
                        "z": 346.54608154296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9224181175231934,
                        "yaw": 178.02867126464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4035,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1267.63623046875,
                        "y": 3079.724853515625,
                        "z": 347.7035217285156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.478149652481079,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4034,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1221.3997802734375,
                        "y": 3078.692138671875,
                        "z": 349.97857666015625
                    },
                    "rotation": {
                        "roll": 3.339633902754713e-09,
                        "pitch": -3.001253366470337,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1180.0902099609375,
                        "y": 3077.769287109375,
                        "z": 352.13958740234375
                    },
                    "rotation": {
                        "roll": -3.3385456621459753e-09,
                        "pitch": -2.621091842651367,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4032,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1156.1007080078125,
                        "y": 3077.2333984375,
                        "z": 353.1183776855469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.133115768432617,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 14.801342964172363,
                "transform": {
                    "location": {
                        "x": -1086.9156494140625,
                        "y": 3075.686767578125,
                        "z": 355.53839111328125
                    },
                    "rotation": {
                        "roll": -0.0021362316329032183,
                        "pitch": -1.1731873750686646,
                        "yaw": 178.7189178466797
                    }
                },
                "velocity": {
                    "x": -14.791837692260742,
                    "y": 0.32905909419059753,
                    "z": -0.41593703627586365
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.325886249542236,
                "transform": {
                    "location": {
                        "x": -1004.126953125,
                        "y": 3046.745361328125,
                        "z": 359.7800598144531
                    },
                    "rotation": {
                        "roll": -0.0011291599366813898,
                        "pitch": -3.493894338607788,
                        "yaw": 168.5863037109375
                    }
                },
                "velocity": {
                    "x": -6.192165851593018,
                    "y": 1.2388302087783813,
                    "z": -0.37311720848083496
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.91555118560791,
                "transform": {
                    "location": {
                        "x": -1020.7985229492188,
                        "y": 3050.160888671875,
                        "z": 358.78326416015625
                    },
                    "rotation": {
                        "roll": 0.02032521367073059,
                        "pitch": -3.429806709289551,
                        "yaw": 167.84523010253906
                    }
                },
                "velocity": {
                    "x": -7.723357200622559,
                    "y": 1.6700762510299683,
                    "z": -0.46534720063209534
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0977478101849556,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            22.916920244617035,
            -0.09742483301333404
        ],
        "target_point_next": [
            74.16395851724542,
            4.435237014234145
        ]
    },
    "185": {
        "acceleration": [
            0.7851600646972656,
            0.012011528015136719,
            0.13293027877807617
        ],
        "angular_velocity": [
            0.027064308524131775,
            0.09029929339885712,
            -1.325445532798767
        ],
        "forward_vector": [
            -0.9580656886100769,
            0.28203070163726807,
            -0.05068429931998253
        ],
        "right_vector": [
            -0.2822548747062683,
            -0.9593353271484375,
            -0.002827797783538699
        ],
        "location": [
            -1049.10986328125,
            3057.372314453125,
            357.1471252441406
        ],
        "rotation": [
            0.16222959756851196,
            -2.9052412509918213,
            163.5968780517578
        ],
        "velocity": [
            -10.033408164978027,
            2.9659173488616943,
            -0.5186000466346741
        ],
        "speed": 10.462597436837878,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 110.7806396484375,
        "front_vehicle_info": {
            "id": 4048,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1152.0396728515625,
                3098.1474609375,
                353.24951171875
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 4055,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1167.93603515625,
                        "y": 3095.00146484375,
                        "z": 352.6640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4054,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1167.8575439453125,
                        "y": 3098.5009765625,
                        "z": 352.6640930175781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4053,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1167.7794189453125,
                        "y": 3102.0,
                        "z": 352.6640930175781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1167.7012939453125,
                        "y": 3105.498779296875,
                        "z": 352.6640930175781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.218892097473145,
                "transform": {
                    "location": {
                        "x": -1034.8292236328125,
                        "y": 3077.955322265625,
                        "z": 356.5047607421875
                    },
                    "rotation": {
                        "roll": 0.0046908059157431126,
                        "pitch": -0.4161975681781769,
                        "yaw": 179.02415466308594
                    }
                },
                "velocity": {
                    "x": -8.217435836791992,
                    "y": 0.14038532972335815,
                    "z": -0.06504544615745544
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.163904190063477,
                "transform": {
                    "location": {
                        "x": -1034.30029296875,
                        "y": 3081.447021484375,
                        "z": 356.4986572265625
                    },
                    "rotation": {
                        "roll": -0.00012207064719405025,
                        "pitch": -0.40944933891296387,
                        "yaw": 179.04771423339844
                    }
                },
                "velocity": {
                    "x": -8.162328720092773,
                    "y": 0.1423880010843277,
                    "z": -0.0738033875823021
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4049,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1152.1180419921875,
                        "y": 3094.64794921875,
                        "z": 353.24951171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4048,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1152.0396728515625,
                        "y": 3098.1474609375,
                        "z": 353.24951171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4047,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1151.9615478515625,
                        "y": 3101.646240234375,
                        "z": 353.24951171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4046,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1151.8834228515625,
                        "y": 3105.145263671875,
                        "z": 353.24951171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 14.243927001953125,
                "transform": {
                    "location": {
                        "x": -1067.553466796875,
                        "y": 3075.255126953125,
                        "z": 356.0012512207031
                    },
                    "rotation": {
                        "roll": -0.0016479502664878964,
                        "pitch": -1.115383505821228,
                        "yaw": 178.7171630859375
                    }
                },
                "velocity": {
                    "x": -14.237300872802734,
                    "y": 0.318729043006897,
                    "z": -0.29519128799438477
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4036,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1301.959716796875,
                        "y": 3080.607421875,
                        "z": 346.4049072265625
                    },
                    "rotation": {
                        "roll": -3.3368174889858437e-09,
                        "pitch": -1.8632686138153076,
                        "yaw": 177.78689575195312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4035,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1271.87890625,
                        "y": 3079.819580078125,
                        "z": 347.51971435546875
                    },
                    "rotation": {
                        "roll": -1.6689581938678089e-09,
                        "pitch": -2.3733267784118652,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4034,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1225.640380859375,
                        "y": 3078.786865234375,
                        "z": 349.7552185058594
                    },
                    "rotation": {
                        "roll": 3.339633902754713e-09,
                        "pitch": -3.001253366470337,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1184.332275390625,
                        "y": 3077.86376953125,
                        "z": 351.94146728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.743065357208252,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4032,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1160.34423828125,
                        "y": 3077.328125,
                        "z": 352.9625244140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.133115768432617,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 15.518442153930664,
                "transform": {
                    "location": {
                        "x": -1090.6754150390625,
                        "y": 3075.771484375,
                        "z": 355.4313659667969
                    },
                    "rotation": {
                        "roll": 0.0023503610864281654,
                        "pitch": -1.3118948936462402,
                        "yaw": 178.70651245117188
                    }
                },
                "velocity": {
                    "x": -15.507793426513672,
                    "y": 0.3496740162372589,
                    "z": -0.4561917781829834
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.584014892578125,
                "transform": {
                    "location": {
                        "x": -1006.0170288085938,
                        "y": 3047.123291015625,
                        "z": 359.6638488769531
                    },
                    "rotation": {
                        "roll": -0.00024415820371359587,
                        "pitch": -2.8364202976226807,
                        "yaw": 168.68817138671875
                    }
                },
                "velocity": {
                    "x": -8.403568267822266,
                    "y": 1.6762689352035522,
                    "z": -0.5054554343223572
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.068347930908203,
                "transform": {
                    "location": {
                        "x": -1022.7349243164062,
                        "y": 3050.581787109375,
                        "z": 358.6668701171875
                    },
                    "rotation": {
                        "roll": 0.02184920944273472,
                        "pitch": -3.376763343811035,
                        "yaw": 167.71510314941406
                    }
                },
                "velocity": {
                    "x": -7.864803314208984,
                    "y": 1.7382047176361084,
                    "z": -0.4709068238735199
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.13159912824630737,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            20.285738030715773,
            0.07003411827678452
        ],
        "target_point_next": [
            71.49689382195548,
            4.991566162580229
        ]
    },
    "190": {
        "acceleration": [
            0.11194229125976562,
            0.2111053466796875,
            0.1307535171508789
        ],
        "angular_velocity": [
            0.07937043905258179,
            0.2753429710865021,
            -1.2356997728347778
        ],
        "forward_vector": [
            -0.9565461277961731,
            0.28727442026138306,
            -0.049928873777389526
        ],
        "right_vector": [
            -0.2875109314918518,
            -0.9577739834785461,
            -0.0025332688819617033
        ],
        "location": [
            -1051.6046142578125,
            3058.116455078125,
            357.019287109375
        ],
        "rotation": [
            0.14532703161239624,
            -2.861903667449951,
            163.28369140625
        ],
        "velocity": [
            -9.931998252868652,
            2.9971508979797363,
            -0.5005611777305603
        ],
        "speed": 10.374367585556563,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 106.23500061035156,
        "front_vehicle_info": {
            "id": 4048,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1149.9583740234375,
                3098.10107421875,
                353.3254089355469
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 4055,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1165.854736328125,
                        "y": 3094.954833984375,
                        "z": 352.73919677734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4054,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1165.7762451171875,
                        "y": 3098.454345703125,
                        "z": 352.73919677734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4053,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1165.6981201171875,
                        "y": 3101.953369140625,
                        "z": 352.73919677734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1165.6199951171875,
                        "y": 3105.452392578125,
                        "z": 352.73919677734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.90714168548584,
                "transform": {
                    "location": {
                        "x": -1036.830078125,
                        "y": 3077.990234375,
                        "z": 356.4872131347656
                    },
                    "rotation": {
                        "roll": -0.0010070796124637127,
                        "pitch": -0.5961866974830627,
                        "yaw": 179.00790405273438
                    }
                },
                "velocity": {
                    "x": -7.905513763427734,
                    "y": 0.13928866386413574,
                    "z": -0.07962973415851593
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.856309413909912,
                "transform": {
                    "location": {
                        "x": -1036.28173828125,
                        "y": 3081.4814453125,
                        "z": 356.48187255859375
                    },
                    "rotation": {
                        "roll": -0.0007324219332076609,
                        "pitch": -0.5871230363845825,
                        "yaw": 178.9895782470703
                    }
                },
                "velocity": {
                    "x": -7.854698181152344,
                    "y": 0.13966035842895508,
                    "z": -0.07618644833564758
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4049,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1150.0367431640625,
                        "y": 3094.60205078125,
                        "z": 353.32537841796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4048,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1149.9583740234375,
                        "y": 3098.10107421875,
                        "z": 353.3254089355469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4047,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1149.8802490234375,
                        "y": 3101.600341796875,
                        "z": 353.3254089355469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4046,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1149.8021240234375,
                        "y": 3105.099365234375,
                        "z": 353.3254089355469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.130210876464844,
                "transform": {
                    "location": {
                        "x": -1071.227783203125,
                        "y": 3075.33740234375,
                        "z": 355.9235534667969
                    },
                    "rotation": {
                        "roll": -0.0001831048575695604,
                        "pitch": -1.1791090965270996,
                        "yaw": 178.71266174316406
                    }
                },
                "velocity": {
                    "x": -15.1226224899292,
                    "y": 0.339637815952301,
                    "z": -0.3379623591899872
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4036,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1306.2044677734375,
                        "y": 3080.76708984375,
                        "z": 346.2674865722656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.6445318460464478,
                        "yaw": 177.54510498046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4035,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1276.1231689453125,
                        "y": 3079.91455078125,
                        "z": 347.3421325683594
                    },
                    "rotation": {
                        "roll": -1.6688344040005632e-09,
                        "pitch": -2.268462896347046,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4034,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1229.88232421875,
                        "y": 3078.881591796875,
                        "z": 349.5353088378906
                    },
                    "rotation": {
                        "roll": -3.339488463538487e-09,
                        "pitch": -2.9532439708709717,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1188.5745849609375,
                        "y": 3077.958740234375,
                        "z": 351.7349548339844
                    },
                    "rotation": {
                        "roll": -3.33922711703849e-09,
                        "pitch": -2.8651139736175537,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4032,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1164.588134765625,
                        "y": 3077.4228515625,
                        "z": 352.7997131347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.255096197128296,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.375728607177734,
                "transform": {
                    "location": {
                        "x": -1094.674560546875,
                        "y": 3075.861572265625,
                        "z": 355.31103515625
                    },
                    "rotation": {
                        "roll": -0.0020141617860645056,
                        "pitch": -1.3790833950042725,
                        "yaw": 178.71484375
                    }
                },
                "velocity": {
                    "x": -16.36393928527832,
                    "y": 0.36560389399528503,
                    "z": -0.5023233890533447
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.961823463439941,
                "transform": {
                    "location": {
                        "x": -1008.0413818359375,
                        "y": 3047.52734375,
                        "z": 359.5439453125
                    },
                    "rotation": {
                        "roll": 0.010387278161942959,
                        "pitch": -3.324150323867798,
                        "yaw": 168.707763671875
                    }
                },
                "velocity": {
                    "x": -7.7933526039123535,
                    "y": 1.5605251789093018,
                    "z": -0.46802815794944763
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.143019676208496,
                "transform": {
                    "location": {
                        "x": -1024.7218017578125,
                        "y": 3051.02587890625,
                        "z": 358.54736328125
                    },
                    "rotation": {
                        "roll": 0.023371471092104912,
                        "pitch": -3.37829327583313,
                        "yaw": 167.38633728027344
                    }
                },
                "velocity": {
                    "x": -7.930286884307861,
                    "y": 1.7862255573272705,
                    "z": -0.47824689745903015
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.15783900022506714,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            17.68168831382785,
            0.17602730444185255
        ],
        "target_point_next": [
            68.86518068656139,
            5.377379404430734
        ]
    },
    "195": {
        "acceleration": [
            0.38318634033203125,
            -0.08159637451171875,
            0.11360287666320801
        ],
        "angular_velocity": [
            -0.167763352394104,
            0.34607595205307007,
            -0.17538052797317505
        ],
        "forward_vector": [
            -0.9558043479919434,
            0.2899553179740906,
            -0.048620834946632385
        ],
        "right_vector": [
            -0.29022252559661865,
            -0.9569578170776367,
            -0.0016253915382549167
        ],
        "location": [
            -1054.0802001953125,
            3058.865234375,
            356.8952331542969
        ],
        "rotation": [
            0.09323838353157043,
            -2.786867380142212,
            163.12416076660156
        ],
        "velocity": [
            -9.872882843017578,
            2.9949471950531006,
            -0.4856542944908142
        ],
        "speed": 10.317147102426489,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 101.71467590332031,
        "front_vehicle_info": {
            "id": 4048,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1147.8770751953125,
                3098.0546875,
                353.4012756347656
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 4055,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1163.7733154296875,
                        "y": 3094.908935546875,
                        "z": 352.8165588378906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4054,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1163.6949462890625,
                        "y": 3098.407958984375,
                        "z": 352.81658935546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4053,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1163.6168212890625,
                        "y": 3101.90673828125,
                        "z": 352.81658935546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1163.5386962890625,
                        "y": 3105.40625,
                        "z": 352.81658935546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.114052772521973,
                "transform": {
                    "location": {
                        "x": -1038.831787109375,
                        "y": 3078.028564453125,
                        "z": 356.4670104980469
                    },
                    "rotation": {
                        "roll": 0.003996115177869797,
                        "pitch": -0.548552930355072,
                        "yaw": 178.8765869140625
                    }
                },
                "velocity": {
                    "x": -8.112062454223633,
                    "y": 0.16073428094387054,
                    "z": -0.08032003045082092
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.186474800109863,
                "transform": {
                    "location": {
                        "x": -1038.294189453125,
                        "y": 3081.51953125,
                        "z": 356.4616394042969
                    },
                    "rotation": {
                        "roll": 0.0004975246265530586,
                        "pitch": -0.5566672086715698,
                        "yaw": 178.9026641845703
                    }
                },
                "velocity": {
                    "x": -8.184425354003906,
                    "y": 0.1642450988292694,
                    "z": -0.08105000108480453
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4049,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1147.9554443359375,
                        "y": 3094.5556640625,
                        "z": 353.4012756347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4048,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1147.8770751953125,
                        "y": 3098.0546875,
                        "z": 353.4012756347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4047,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1147.7989501953125,
                        "y": 3101.5537109375,
                        "z": 353.4012756347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4046,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1147.7208251953125,
                        "y": 3105.052734375,
                        "z": 353.4012756347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.905619621276855,
                "transform": {
                    "location": {
                        "x": -1075.1163330078125,
                        "y": 3075.424560546875,
                        "z": 355.8349914550781
                    },
                    "rotation": {
                        "roll": -0.0003051743842661381,
                        "pitch": -1.2875657081604004,
                        "yaw": 178.71969604492188
                    }
                },
                "velocity": {
                    "x": -15.8972806930542,
                    "y": 0.35555997490882874,
                    "z": -0.3725534975528717
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4036,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1310.4486083984375,
                        "y": 3080.94189453125,
                        "z": 346.1405029296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.6445318460464478,
                        "yaw": 177.54510498046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4035,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1280.367431640625,
                        "y": 3080.00927734375,
                        "z": 347.17095947265625
                    },
                    "rotation": {
                        "roll": -1.6688344040005632e-09,
                        "pitch": -2.268462896347046,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4034,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1234.1241455078125,
                        "y": 3078.975830078125,
                        "z": 349.3182067871094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.9053027629852295,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1192.8167724609375,
                        "y": 3078.053466796875,
                        "z": 351.52105712890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.987053394317627,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4032,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1168.832275390625,
                        "y": 3077.517822265625,
                        "z": 352.6287841796875
                    },
                    "rotation": {
                        "roll": 3.3379254915644196e-09,
                        "pitch": -2.3771309852600098,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.558134078979492,
                "transform": {
                    "location": {
                        "x": -1098.7977294921875,
                        "y": 3075.95361328125,
                        "z": 355.18182373046875
                    },
                    "rotation": {
                        "roll": -0.0012817378155887127,
                        "pitch": -1.692015290260315,
                        "yaw": 178.72393798828125
                    }
                },
                "velocity": {
                    "x": -16.545204162597656,
                    "y": 0.3712458610534668,
                    "z": -0.5387334227561951
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.585146427154541,
                "transform": {
                    "location": {
                        "x": -1009.9235229492188,
                        "y": 3047.905029296875,
                        "z": 359.43157958984375
                    },
                    "rotation": {
                        "roll": 0.021013393998146057,
                        "pitch": -3.5283799171447754,
                        "yaw": 168.6538543701172
                    }
                },
                "velocity": {
                    "x": -7.423642635345459,
                    "y": 1.4916839599609375,
                    "z": -0.44593414664268494
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.002486228942871,
                "transform": {
                    "location": {
                        "x": -1026.681640625,
                        "y": 3051.468994140625,
                        "z": 358.4293212890625
                    },
                    "rotation": {
                        "roll": 0.006115703843533993,
                        "pitch": -3.4132912158966064,
                        "yaw": 167.24627685546875
                    }
                },
                "velocity": {
                    "x": -7.790502071380615,
                    "y": 1.768242597579956,
                    "z": -0.47029364109039307
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.17365334928035736,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            15.094782403090175,
            0.22314105466403067
        ],
        "target_point_next": [
            66.26359198190589,
            5.567004958678323
        ]
    },
    "200": {
        "acceleration": [
            -0.3269195556640625,
            0.24363994598388672,
            0.07197141647338867
        ],
        "angular_velocity": [
            0.1427985429763794,
            0.38488611578941345,
            -0.35305026173591614
        ],
        "forward_vector": [
            -0.9557009339332581,
            0.29052942991256714,
            -0.04720613360404968
        ],
        "right_vector": [
            -0.29080626368522644,
            -0.9567813873291016,
            -0.0010456218151375651
        ],
        "location": [
            -1056.54833984375,
            3059.614501953125,
            356.7744445800781
        ],
        "rotation": [
            0.059976596385240555,
            -2.7057178020477295,
            163.09092712402344
        ],
        "velocity": [
            -9.87726879119873,
            3.009366989135742,
            -0.4740658402442932
        ],
        "speed": 10.325537683282569,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 97.21122741699219,
        "front_vehicle_info": {
            "id": 4048,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1145.7957763671875,
                3098.0078125,
                353.4771728515625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.8677358627319336,
                "transform": {
                    "location": {
                        "x": -1040.4720458984375,
                        "y": 3074.650146484375,
                        "z": 356.4779968261719
                    },
                    "rotation": {
                        "roll": 0.0001374548301100731,
                        "pitch": -0.5727249979972839,
                        "yaw": 178.72023010253906
                    }
                },
                "velocity": {
                    "x": 0.009943360462784767,
                    "y": -0.0001557174837216735,
                    "z": -0.8676788806915283
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4055,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1161.6920166015625,
                        "y": 3094.862060546875,
                        "z": 352.8959655761719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4054,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1161.6136474609375,
                        "y": 3098.361083984375,
                        "z": 352.8959655761719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4053,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1161.5355224609375,
                        "y": 3101.85986328125,
                        "z": 352.8959655761719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1161.4573974609375,
                        "y": 3105.359375,
                        "z": 352.8959655761719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.063214302062988,
                "transform": {
                    "location": {
                        "x": -1040.8590087890625,
                        "y": 3078.0693359375,
                        "z": 356.4470520019531
                    },
                    "rotation": {
                        "roll": 0.0018952719401568174,
                        "pitch": -0.5689069032669067,
                        "yaw": 178.86093139648438
                    }
                },
                "velocity": {
                    "x": -8.061147689819336,
                    "y": 0.16273526847362518,
                    "z": -0.08272777497768402
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.99136209487915,
                "transform": {
                    "location": {
                        "x": -1040.3187255859375,
                        "y": 3081.559814453125,
                        "z": 356.4417419433594
                    },
                    "rotation": {
                        "roll": 0.00029427831759676337,
                        "pitch": -0.5686337351799011,
                        "yaw": 178.8453826904297
                    }
                },
                "velocity": {
                    "x": -7.989321708679199,
                    "y": 0.16234217584133148,
                    "z": -0.07906603068113327
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4049,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1145.8741455078125,
                        "y": 3094.5087890625,
                        "z": 353.4771728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4048,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1145.7957763671875,
                        "y": 3098.0078125,
                        "z": 353.4771728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4047,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1145.7176513671875,
                        "y": 3101.5068359375,
                        "z": 353.4771728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4046,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1145.6395263671875,
                        "y": 3105.005859375,
                        "z": 353.4771728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.04062271118164,
                "transform": {
                    "location": {
                        "x": -1079.1202392578125,
                        "y": 3075.513916015625,
                        "z": 355.7390441894531
                    },
                    "rotation": {
                        "roll": -0.0007019012118689716,
                        "pitch": -1.4325501918792725,
                        "yaw": 178.7252655029297
                    }
                },
                "velocity": {
                    "x": -16.031658172607422,
                    "y": 0.35432782769203186,
                    "z": -0.40242472290992737
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4036,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.6927490234375,
                        "y": 3081.132080078125,
                        "z": 346.02789306640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.4258360862731934,
                        "yaw": 177.3032989501953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4035,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1284.61181640625,
                        "y": 3080.10400390625,
                        "z": 347.0069580078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.1635990142822266,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4034,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1238.365966796875,
                        "y": 3079.07080078125,
                        "z": 349.104248046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.8573548793792725,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1197.058349609375,
                        "y": 3078.147705078125,
                        "z": 351.29986572265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.109067678451538,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4032,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1173.07568359375,
                        "y": 3077.612060546875,
                        "z": 352.4505310058594
                    },
                    "rotation": {
                        "roll": -1.6691140691804662e-09,
                        "pitch": -2.499084234237671,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.477725982666016,
                "transform": {
                    "location": {
                        "x": -1102.922119140625,
                        "y": 3076.0458984375,
                        "z": 355.04541015625
                    },
                    "rotation": {
                        "roll": 6.676436169072986e-05,
                        "pitch": -1.8978294134140015,
                        "yaw": 178.71917724609375
                    }
                },
                "velocity": {
                    "x": -16.464031219482422,
                    "y": 0.36796823143959045,
                    "z": -0.5619012117385864
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.852143287658691,
                "transform": {
                    "location": {
                        "x": -1011.8104248046875,
                        "y": 3048.283935546875,
                        "z": 359.31793212890625
                    },
                    "rotation": {
                        "roll": 0.015233522281050682,
                        "pitch": -3.402519941329956,
                        "yaw": 168.6295928955078
                    }
                },
                "velocity": {
                    "x": -7.684458255767822,
                    "y": 1.546831488609314,
                    "z": -0.46104490756988525
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.098673820495605,
                "transform": {
                    "location": {
                        "x": -1028.63916015625,
                        "y": 3051.9189453125,
                        "z": 358.3111267089844
                    },
                    "rotation": {
                        "roll": 0.025077002122998238,
                        "pitch": -3.380615711212158,
                        "yaw": 167.00782775878906
                    }
                },
                "velocity": {
                    "x": -7.8730316162109375,
                    "y": 1.8381356000900269,
                    "z": -0.4744911789894104
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.17709101736545563,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            12.515287333492866,
            0.23090256672422438
        ],
        "target_point_next": [
            63.68098975691555,
            5.604434985486414
        ]
    },
    "205": {
        "acceleration": [
            -0.2605628967285156,
            0.201263427734375,
            0.04252970218658447
        ],
        "angular_velocity": [
            0.1423940807580948,
            0.40026387572288513,
            -0.6826434135437012
        ],
        "forward_vector": [
            -0.9550097584724426,
            0.2930926978588104,
            -0.045309875160455704
        ],
        "right_vector": [
            -0.29335033893585205,
            -0.9560045003890991,
            -0.0010043418733403087
        ],
        "location": [
            -1059.02587890625,
            3060.372802734375,
            356.65631103515625
        ],
        "rotation": [
            0.05760372430086136,
            -2.596953868865967,
            162.93873596191406
        ],
        "velocity": [
            -9.947452545166016,
            3.0616838932037354,
            -0.46576207876205444
        ],
        "speed": 10.407964277428754,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 92.707763671875,
        "front_vehicle_info": {
            "id": 4048,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1143.7144775390625,
                3097.9619140625,
                353.5531311035156
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 4058,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": -1026.193359375,
                        "y": 3081.3330078125,
                        "z": 356.90765380859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.25598180294036865,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4057,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.470000147819519,
                "transform": {
                    "location": {
                        "x": -1026.271484375,
                        "y": 3077.834228515625,
                        "z": 356.8439636230469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.25598180294036865,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -1.470000147819519
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.048087410628795624,
                "transform": {
                    "location": {
                        "x": -1040.4718017578125,
                        "y": 3074.650146484375,
                        "z": 356.4404602050781
                    },
                    "rotation": {
                        "roll": -0.0001525875850347802,
                        "pitch": -0.5577327013015747,
                        "yaw": 178.72023010253906
                    }
                },
                "velocity": {
                    "x": -0.0005777990445494652,
                    "y": 8.385235560126603e-05,
                    "z": 0.048083867877721786
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4055,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1159.6107177734375,
                        "y": 3094.81591796875,
                        "z": 352.9754333496094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4054,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1159.5323486328125,
                        "y": 3098.315185546875,
                        "z": 352.9754333496094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4053,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1159.4542236328125,
                        "y": 3101.81396484375,
                        "z": 352.9754333496094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1159.3760986328125,
                        "y": 3105.31298828125,
                        "z": 352.9754333496094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.028270721435547,
                "transform": {
                    "location": {
                        "x": -1042.8643798828125,
                        "y": 3078.11083984375,
                        "z": 356.42401123046875
                    },
                    "rotation": {
                        "roll": 0.0035272492095828056,
                        "pitch": -0.7214045524597168,
                        "yaw": 178.79129028320312
                    }
                },
                "velocity": {
                    "x": -8.025959968566895,
                    "y": 0.16984595358371735,
                    "z": -0.09079708158969879
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.067915916442871,
                "transform": {
                    "location": {
                        "x": -1042.3193359375,
                        "y": 3081.600830078125,
                        "z": 356.4198303222656
                    },
                    "rotation": {
                        "roll": 0.0002240745088784024,
                        "pitch": -0.6585394740104675,
                        "yaw": 178.82298278808594
                    }
                },
                "velocity": {
                    "x": -8.065470695495605,
                    "y": 0.1708219349384308,
                    "z": -0.10129820555448532
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4049,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1143.7928466796875,
                        "y": 3094.46240234375,
                        "z": 353.5531311035156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4048,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1143.7144775390625,
                        "y": 3097.9619140625,
                        "z": 353.5531311035156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4047,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1143.6363525390625,
                        "y": 3101.46044921875,
                        "z": 353.5531311035156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4046,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1143.5582275390625,
                        "y": 3104.959716796875,
                        "z": 353.5531311035156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.882283210754395,
                "transform": {
                    "location": {
                        "x": -1083.10693359375,
                        "y": 3075.602783203125,
                        "z": 355.6369323730469
                    },
                    "rotation": {
                        "roll": 0.0006259395158849657,
                        "pitch": -1.484732747077942,
                        "yaw": 178.72244262695312
                    }
                },
                "velocity": {
                    "x": -15.872748374938965,
                    "y": 0.3557855486869812,
                    "z": -0.41977134346961975
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4036,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1318.9365234375,
                        "y": 3081.33935546875,
                        "z": 345.9295654296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.2071539163589478,
                        "yaw": 177.0615234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4035,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1288.8560791015625,
                        "y": 3080.204833984375,
                        "z": 346.85125732421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.058741807937622,
                        "yaw": 178.51222229003906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4034,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1242.60791015625,
                        "y": 3079.16552734375,
                        "z": 348.8931884765625
                    },
                    "rotation": {
                        "roll": -3.3390665787891294e-09,
                        "pitch": -2.809420585632324,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1201.2994384765625,
                        "y": 3078.24267578125,
                        "z": 351.07171630859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.154447555541992,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4032,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1177.31884765625,
                        "y": 3077.706787109375,
                        "z": 352.2648620605469
                    },
                    "rotation": {
                        "roll": -3.3385456621459753e-09,
                        "pitch": -2.621091842651367,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.43927001953125,
                "transform": {
                    "location": {
                        "x": -1107.0301513671875,
                        "y": 3076.137451171875,
                        "z": 354.9026184082031
                    },
                    "rotation": {
                        "roll": -0.003753659315407276,
                        "pitch": -2.0624916553497314,
                        "yaw": 178.72869873046875
                    }
                },
                "velocity": {
                    "x": -16.424884796142578,
                    "y": 0.3630863428115845,
                    "z": -0.583871603012085
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.872793674468994,
                "transform": {
                    "location": {
                        "x": -1013.7425537109375,
                        "y": 3048.676513671875,
                        "z": 359.2017822265625
                    },
                    "rotation": {
                        "roll": 0.04638471081852913,
                        "pitch": -3.394071102142334,
                        "yaw": 168.4855499267578
                    }
                },
                "velocity": {
                    "x": -7.697856426239014,
                    "y": 1.5845969915390015,
                    "z": -0.4614550769329071
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.076047897338867,
                "transform": {
                    "location": {
                        "x": -1030.60693359375,
                        "y": 3052.3818359375,
                        "z": 358.19281005859375
                    },
                    "rotation": {
                        "roll": 0.018646642565727234,
                        "pitch": -3.3768863677978516,
                        "yaw": 166.7464599609375
                    }
                },
                "velocity": {
                    "x": -7.845495223999023,
                    "y": 1.856629729270935,
                    "z": -0.4729550778865814
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.18736809492111206,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            9.923642331623883,
            0.2621831290299603
        ],
        "target_point_next": [
            61.07488966652231,
            5.771616060083437
        ]
    },
    "210": {
        "acceleration": [
            -0.9429168701171875,
            0.4376697540283203,
            0.01323699951171875
        ],
        "angular_velocity": [
            0.07085827738046646,
            0.4114566147327423,
            -0.7144392132759094
        ],
        "forward_vector": [
            -0.9541827440261841,
            0.2960500419139862,
            -0.043470267206430435
        ],
        "right_vector": [
            -0.2962912917137146,
            -0.9550971984863281,
            -0.0009320410899817944
        ],
        "location": [
            -1061.5345458984375,
            3061.1484375,
            356.539794921875
        ],
        "rotation": [
            0.05345255509018898,
            -2.491447925567627,
            162.76268005371094
        ],
        "velocity": [
            -10.115848541259766,
            3.147397756576538,
            -0.4606412351131439
        ],
        "speed": 10.59417313185934,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 88.18190002441406,
        "front_vehicle_info": {
            "id": 4048,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1141.6331787109375,
                3097.9150390625,
                353.62896728515625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 4058,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.6266196966171265,
                "transform": {
                    "location": {
                        "x": -1026.1925048828125,
                        "y": 3081.3330078125,
                        "z": 356.500732421875
                    },
                    "rotation": {
                        "roll": -0.0017089837929233909,
                        "pitch": -0.29550811648368835,
                        "yaw": 178.7200927734375
                    }
                },
                "velocity": {
                    "x": 0.0030789498705416918,
                    "y": 0.00017733927234075963,
                    "z": -0.62661212682724
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4057,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.04068303480744362,
                "transform": {
                    "location": {
                        "x": -1026.2706298828125,
                        "y": 3077.834228515625,
                        "z": 356.5135192871094
                    },
                    "rotation": {
                        "roll": 0.001605443423613906,
                        "pitch": -0.31082141399383545,
                        "yaw": 178.7201385498047
                    }
                },
                "velocity": {
                    "x": 0.0002036432852037251,
                    "y": 0.00011932088091270998,
                    "z": -0.0406823493540287
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.8172560334205627,
                "transform": {
                    "location": {
                        "x": -1040.50927734375,
                        "y": 3074.651123046875,
                        "z": 356.44879150390625
                    },
                    "rotation": {
                        "roll": -0.00048828125,
                        "pitch": -0.471890926361084,
                        "yaw": 178.7150115966797
                    }
                },
                "velocity": {
                    "x": -0.8169938325881958,
                    "y": 0.018779972568154335,
                    "z": 0.008705845102667809
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4055,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1157.5294189453125,
                        "y": 3094.76904296875,
                        "z": 353.05181884765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4054,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1157.4510498046875,
                        "y": 3098.268310546875,
                        "z": 353.05181884765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4053,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1157.3729248046875,
                        "y": 3101.76708984375,
                        "z": 353.05181884765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1157.2947998046875,
                        "y": 3105.26611328125,
                        "z": 353.05181884765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.078510284423828,
                "transform": {
                    "location": {
                        "x": -1044.8785400390625,
                        "y": 3078.153564453125,
                        "z": 356.3987121582031
                    },
                    "rotation": {
                        "roll": 0.0009730566525831819,
                        "pitch": -0.7756021022796631,
                        "yaw": 178.79254150390625
                    }
                },
                "velocity": {
                    "x": -8.07587718963623,
                    "y": 0.17363548278808594,
                    "z": -0.11122891306877136
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.055536270141602,
                "transform": {
                    "location": {
                        "x": -1044.337158203125,
                        "y": 3081.643798828125,
                        "z": 356.3949890136719
                    },
                    "rotation": {
                        "roll": 0.00025381537852808833,
                        "pitch": -0.782200038433075,
                        "yaw": 178.78404235839844
                    }
                },
                "velocity": {
                    "x": -8.052974700927734,
                    "y": 0.1723857969045639,
                    "z": -0.10742998868227005
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4049,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1141.7115478515625,
                        "y": 3094.41552734375,
                        "z": 353.62896728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4048,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1141.6331787109375,
                        "y": 3097.9150390625,
                        "z": 353.62896728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4047,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1141.5550537109375,
                        "y": 3101.41357421875,
                        "z": 353.62896728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4046,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1141.4769287109375,
                        "y": 3104.912841796875,
                        "z": 353.62896728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.830324172973633,
                "transform": {
                    "location": {
                        "x": -1087.064697265625,
                        "y": 3075.691162109375,
                        "z": 355.52880859375
                    },
                    "rotation": {
                        "roll": 0.00016672449419274926,
                        "pitch": -1.6230441331863403,
                        "yaw": 178.72015380859375
                    }
                },
                "velocity": {
                    "x": -15.820104598999023,
                    "y": 0.3514319062232971,
                    "z": -0.44715484976768494
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4036,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1323.1798095703125,
                        "y": 3081.560546875,
                        "z": 345.8442077636719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.9884580969810486,
                        "yaw": 176.8197784423828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4035,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1293.100341796875,
                        "y": 3080.3193359375,
                        "z": 346.7019348144531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9539121389389038,
                        "yaw": 178.27044677734375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4034,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1246.849853515625,
                        "y": 3079.260498046875,
                        "z": 348.6847839355469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.783540964126587,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1205.5401611328125,
                        "y": 3078.33740234375,
                        "z": 350.838623046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.154447555541992,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4032,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1181.5614013671875,
                        "y": 3077.8017578125,
                        "z": 352.072021484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.743065357208252,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.442955017089844,
                "transform": {
                    "location": {
                        "x": -1111.1358642578125,
                        "y": 3076.228759765625,
                        "z": 354.75518798828125
                    },
                    "rotation": {
                        "roll": -0.0003051774110645056,
                        "pitch": -2.1178228855133057,
                        "yaw": 178.73109436035156
                    }
                },
                "velocity": {
                    "x": -16.42801856994629,
                    "y": 0.3665579855442047,
                    "z": -0.5971549153327942
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.732536315917969,
                "transform": {
                    "location": {
                        "x": -1015.646484375,
                        "y": 3049.06982421875,
                        "z": 359.08795166015625
                    },
                    "rotation": {
                        "roll": 0.03475404903292656,
                        "pitch": -3.455078363418579,
                        "yaw": 168.31231689453125
                    }
                },
                "velocity": {
                    "x": -7.55794620513916,
                    "y": 1.5696152448654175,
                    "z": -0.45372939109802246
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.051347732543945,
                "transform": {
                    "location": {
                        "x": -1032.5626220703125,
                        "y": 3052.84716796875,
                        "z": 358.0759582519531
                    },
                    "rotation": {
                        "roll": 0.020263206213712692,
                        "pitch": -3.336513042449951,
                        "yaw": 166.60289001464844
                    }
                },
                "velocity": {
                    "x": -7.813687801361084,
                    "y": 1.885520577430725,
                    "z": -0.4639885723590851
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.18813157081604004,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            58.431031094199405,
            5.956660652753701
        ],
        "target_point_next": [
            70.81639030450316,
            9.361014277531293
        ]
    },
    "215": {
        "acceleration": [
            -0.8484840393066406,
            0.28754711151123047,
            -0.0009900331497192383
        ],
        "angular_velocity": [
            -0.05514804646372795,
            0.42370471358299255,
            -0.17045927047729492
        ],
        "forward_vector": [
            -0.9537242650985718,
            0.29779136180877686,
            -0.041596680879592896
        ],
        "right_vector": [
            -0.2980296313762665,
            -0.9545564651489258,
            -0.0004951278096996248
        ],
        "location": [
            -1064.0926513671875,
            3061.945556640625,
            356.42425537109375
        ],
        "rotation": [
            0.02839331142604351,
            -2.384002208709717,
            162.65951538085938
        ],
        "velocity": [
            -10.341859817504883,
            3.23022723197937,
            -0.4589552879333496
        ],
        "speed": 10.834594245062583,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 83.61793518066406,
        "front_vehicle_info": {
            "id": 4048,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1139.5518798828125,
                3097.86865234375,
                353.7048645019531
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 4062,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1171.2523193359375,
                        "y": 3095.075927734375,
                        "z": 352.8246765136719
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4061,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1171.1739501953125,
                        "y": 3098.574951171875,
                        "z": 352.8246765136719
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4060,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1171.0958251953125,
                        "y": 3102.073974609375,
                        "z": 352.8246765136719
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4059,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1171.0177001953125,
                        "y": 3105.572998046875,
                        "z": 352.8246765136719
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4058,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.23074749112129211,
                "transform": {
                    "location": {
                        "x": -1026.1925048828125,
                        "y": 3081.3330078125,
                        "z": 356.52197265625
                    },
                    "rotation": {
                        "roll": -0.002166748046875,
                        "pitch": -0.3031305968761444,
                        "yaw": 178.7200927734375
                    }
                },
                "velocity": {
                    "x": -0.0011645038612186909,
                    "y": -4.766701749758795e-05,
                    "z": 0.23074454069137573
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4057,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.31046321988105774,
                "transform": {
                    "location": {
                        "x": -1026.2763671875,
                        "y": 3077.834228515625,
                        "z": 356.5439758300781
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": -0.28207314014434814,
                        "yaw": 178.71275329589844
                    }
                },
                "velocity": {
                    "x": -0.2938985228538513,
                    "y": 0.0025030814576894045,
                    "z": 0.10002406686544418
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.063136339187622,
                "transform": {
                    "location": {
                        "x": -1040.89453125,
                        "y": 3074.65966796875,
                        "z": 356.4470520019531
                    },
                    "rotation": {
                        "roll": -0.006988526321947575,
                        "pitch": -0.3819578289985657,
                        "yaw": 178.71763610839844
                    }
                },
                "velocity": {
                    "x": -2.062518358230591,
                    "y": 0.04697167128324509,
                    "z": -0.01851237751543522
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4055,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1155.4481201171875,
                        "y": 3094.722412109375,
                        "z": 353.1279602050781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4054,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1155.3697509765625,
                        "y": 3098.221923828125,
                        "z": 353.1279602050781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4053,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1155.2916259765625,
                        "y": 3101.720947265625,
                        "z": 353.1279602050781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1155.2135009765625,
                        "y": 3105.219970703125,
                        "z": 353.1279602050781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.048776626586914,
                "transform": {
                    "location": {
                        "x": -1046.8941650390625,
                        "y": 3078.197021484375,
                        "z": 356.37127685546875
                    },
                    "rotation": {
                        "roll": 0.0017649021465331316,
                        "pitch": -0.7748371362686157,
                        "yaw": 178.74391174316406
                    }
                },
                "velocity": {
                    "x": -8.046113967895508,
                    "y": 0.17553752660751343,
                    "z": -0.10972187668085098
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.06110668182373,
                "transform": {
                    "location": {
                        "x": -1046.349609375,
                        "y": 3081.686767578125,
                        "z": 356.36767578125
                    },
                    "rotation": {
                        "roll": 6.533548730658367e-05,
                        "pitch": -0.7742360234260559,
                        "yaw": 178.76747131347656
                    }
                },
                "velocity": {
                    "x": -8.058481216430664,
                    "y": 0.17479249835014343,
                    "z": -0.10850543528795242
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4049,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1139.6302490234375,
                        "y": 3094.36962890625,
                        "z": 353.7048645019531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4048,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1139.5518798828125,
                        "y": 3097.86865234375,
                        "z": 353.7048645019531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4047,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1139.4737548828125,
                        "y": 3101.36767578125,
                        "z": 353.7048645019531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4046,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1139.3956298828125,
                        "y": 3104.86669921875,
                        "z": 353.7048645019531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.852920532226562,
                "transform": {
                    "location": {
                        "x": -1091.021728515625,
                        "y": 3075.779296875,
                        "z": 355.4154968261719
                    },
                    "rotation": {
                        "roll": -9.155205043498427e-05,
                        "pitch": -1.690765380859375,
                        "yaw": 178.72271728515625
                    }
                },
                "velocity": {
                    "x": -15.841911315917969,
                    "y": 0.3552091419696808,
                    "z": -0.4719732701778412
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4036,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1327.42236328125,
                        "y": 3081.796875,
                        "z": 345.77178955078125
                    },
                    "rotation": {
                        "roll": 3.335353992994783e-09,
                        "pitch": -0.769775927066803,
                        "yaw": 176.5779571533203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4035,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1297.34423828125,
                        "y": 3080.44873046875,
                        "z": 346.55810546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9224181175231934,
                        "yaw": 178.02867126464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4034,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1251.0914306640625,
                        "y": 3079.35546875,
                        "z": 348.478271484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.783540964126587,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1209.78076171875,
                        "y": 3078.432373046875,
                        "z": 350.6052551269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.1450493335723877,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4032,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1185.8037109375,
                        "y": 3077.896728515625,
                        "z": 351.87017822265625
                    },
                    "rotation": {
                        "roll": -3.33922711703849e-09,
                        "pitch": -2.8651139736175537,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.449462890625,
                "transform": {
                    "location": {
                        "x": -1115.2437744140625,
                        "y": 3076.3203125,
                        "z": 354.6047058105469
                    },
                    "rotation": {
                        "roll": 0.0032317456789314747,
                        "pitch": -2.1255478858947754,
                        "yaw": 178.7129364013672
                    }
                },
                "velocity": {
                    "x": -16.434276580810547,
                    "y": 0.36816921830177307,
                    "z": -0.6031533479690552
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.797662734985352,
                "transform": {
                    "location": {
                        "x": -1017.5394897460938,
                        "y": 3049.463134765625,
                        "z": 358.9742126464844
                    },
                    "rotation": {
                        "roll": 0.010320184752345085,
                        "pitch": -3.4186391830444336,
                        "yaw": 168.25167846679688
                    }
                },
                "velocity": {
                    "x": -7.620677471160889,
                    "y": 1.5874145030975342,
                    "z": -0.45709478855133057
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.08203411102295,
                "transform": {
                    "location": {
                        "x": -1034.519775390625,
                        "y": 3053.324951171875,
                        "z": 357.96014404296875
                    },
                    "rotation": {
                        "roll": 0.025974493473768234,
                        "pitch": -3.278319835662842,
                        "yaw": 166.26144409179688
                    }
                },
                "velocity": {
                    "x": -7.835116863250732,
                    "y": 1.92836594581604,
                    "z": -0.46003293991088867
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1819482445716858,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            55.74078959665752,
            6.0603080702376495
        ],
        "target_point_next": [
            68.119999068986,
            9.486956463493797
        ]
    },
    "220": {
        "acceleration": [
            -3.5146713256835938,
            1.0786771774291992,
            -0.12858092784881592
        ],
        "angular_velocity": [
            0.1362326443195343,
            1.13469398021698,
            0.12676797807216644
        ],
        "forward_vector": [
            -0.953863263130188,
            0.2975485026836395,
            -0.04012139141559601
        ],
        "right_vector": [
            -0.29779186844825745,
            -0.9546307921409607,
            9.366822632728145e-05
        ],
        "location": [
            -1066.711181640625,
            3062.762451171875,
            356.309326171875
        ],
        "rotation": [
            -0.005371118895709515,
            -2.299403667449951,
            162.67518615722656
        ],
        "velocity": [
            -10.675207138061523,
            3.3292148113250732,
            -0.4609314501285553
        ],
        "speed": 11.182294876297348,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 79.00912475585938,
        "front_vehicle_info": {
            "id": 4048,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1137.4705810546875,
                3097.82177734375,
                353.7807312011719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 4062,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1169.184814453125,
                        "y": 3095.029541015625,
                        "z": 352.6190490722656
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4061,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1169.1063232421875,
                        "y": 3098.529052734375,
                        "z": 352.6190185546875
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4060,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1169.0281982421875,
                        "y": 3102.028076171875,
                        "z": 352.6190185546875
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4059,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1168.9500732421875,
                        "y": 3105.52685546875,
                        "z": 352.6190185546875
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4058,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.24048461019992828,
                "transform": {
                    "location": {
                        "x": -1026.19677734375,
                        "y": 3081.3330078125,
                        "z": 356.5517883300781
                    },
                    "rotation": {
                        "roll": -0.0018005374586209655,
                        "pitch": -0.29705172777175903,
                        "yaw": 178.7215576171875
                    }
                },
                "velocity": {
                    "x": -0.2377205193042755,
                    "y": 0.002403662307187915,
                    "z": 0.03627707436680794
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4057,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.7530490159988403,
                "transform": {
                    "location": {
                        "x": -1026.574951171875,
                        "y": 3077.837646484375,
                        "z": 356.5552978515625
                    },
                    "rotation": {
                        "roll": -0.0018615724984556437,
                        "pitch": -0.1386733204126358,
                        "yaw": 178.8424835205078
                    }
                },
                "velocity": {
                    "x": -1.7527750730514526,
                    "y": 0.029032422229647636,
                    "z": 0.010836810804903507
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.3843748569488525,
                "transform": {
                    "location": {
                        "x": -1041.5682373046875,
                        "y": 3074.674560546875,
                        "z": 356.4395751953125
                    },
                    "rotation": {
                        "roll": 0.0006431313813664019,
                        "pitch": -0.42486506700515747,
                        "yaw": 178.7144317626953
                    }
                },
                "velocity": {
                    "x": -3.383298873901367,
                    "y": 0.07580513507127762,
                    "z": -0.039185378700494766
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4055,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1153.3668212890625,
                        "y": 3094.67626953125,
                        "z": 353.2039794921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4054,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1153.2884521484375,
                        "y": 3098.175537109375,
                        "z": 353.2039794921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4053,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1153.2103271484375,
                        "y": 3101.67431640625,
                        "z": 353.2039794921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1153.1322021484375,
                        "y": 3105.17333984375,
                        "z": 353.2039794921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.056564331054688,
                "transform": {
                    "location": {
                        "x": -1048.9056396484375,
                        "y": 3078.2412109375,
                        "z": 356.3439636230469
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.7869880199432373,
                        "yaw": 178.76210021972656
                    }
                },
                "velocity": {
                    "x": -8.053786277770996,
                    "y": 0.1767147034406662,
                    "z": -0.11629468947649002
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.036388397216797,
                "transform": {
                    "location": {
                        "x": -1048.3609619140625,
                        "y": 3081.730224609375,
                        "z": 356.3406677246094
                    },
                    "rotation": {
                        "roll": 0.00024650676641613245,
                        "pitch": -0.7684030532836914,
                        "yaw": 178.7593536376953
                    }
                },
                "velocity": {
                    "x": -8.033754348754883,
                    "y": 0.17557378113269806,
                    "z": -0.10728462785482407
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4049,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1137.5489501953125,
                        "y": 3094.32275390625,
                        "z": 353.7807312011719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4048,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1137.4705810546875,
                        "y": 3097.82177734375,
                        "z": 353.7807312011719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4047,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1137.3924560546875,
                        "y": 3101.32080078125,
                        "z": 353.7807312011719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4046,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1137.3143310546875,
                        "y": 3104.81982421875,
                        "z": 353.7807312011719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.867147445678711,
                "transform": {
                    "location": {
                        "x": -1094.9840087890625,
                        "y": 3075.86767578125,
                        "z": 355.2955627441406
                    },
                    "rotation": {
                        "roll": -0.0001525867119198665,
                        "pitch": -1.7528655529022217,
                        "yaw": 178.72036743164062
                    }
                },
                "velocity": {
                    "x": -15.855792045593262,
                    "y": 0.3514713644981384,
                    "z": -0.4865090847015381
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4035,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1301.5875244140625,
                        "y": 3080.592041015625,
                        "z": 346.4171142578125
                    },
                    "rotation": {
                        "roll": -3.3368174889858437e-09,
                        "pitch": -1.8632686138153076,
                        "yaw": 177.78689575195312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4034,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1255.332763671875,
                        "y": 3079.4501953125,
                        "z": 348.2720947265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.783540964126587,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1214.020751953125,
                        "y": 3078.52734375,
                        "z": 350.37408447265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.0971081256866455,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4032,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1190.044921875,
                        "y": 3077.991455078125,
                        "z": 351.6620178222656
                    },
                    "rotation": {
                        "roll": -3.33922711703849e-09,
                        "pitch": -2.8651139736175537,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.450510025024414,
                "transform": {
                    "location": {
                        "x": -1119.3525390625,
                        "y": 3076.412109375,
                        "z": 354.45428466796875
                    },
                    "rotation": {
                        "roll": 0.002741984324529767,
                        "pitch": -2.1207258701324463,
                        "yaw": 178.71543884277344
                    }
                },
                "velocity": {
                    "x": -16.43539047241211,
                    "y": 0.37048250436782837,
                    "z": -0.5999504923820496
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.851352214813232,
                "transform": {
                    "location": {
                        "x": -1019.4551391601562,
                        "y": 3049.87158203125,
                        "z": 358.8591613769531
                    },
                    "rotation": {
                        "roll": 0.04648212343454361,
                        "pitch": -3.410518169403076,
                        "yaw": 167.94813537597656
                    }
                },
                "velocity": {
                    "x": -7.661776065826416,
                    "y": 1.6522866487503052,
                    "z": -0.45919913053512573
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.065415382385254,
                "transform": {
                    "location": {
                        "x": -1036.4769287109375,
                        "y": 3053.808349609375,
                        "z": 357.8465881347656
                    },
                    "rotation": {
                        "roll": 0.006442302837967873,
                        "pitch": -3.2350165843963623,
                        "yaw": 166.11041259765625
                    }
                },
                "velocity": {
                    "x": -7.816038608551025,
                    "y": 1.9379169940948486,
                    "z": -0.45270010828971863
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.16105593740940094,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            52.99944910851691,
            6.045144330006774
        ],
        "target_point_next": [
            65.37959437398949,
            9.468410252570994
        ]
    },
    "225": {
        "acceleration": [
            -1.8658447265625,
            0.5006742477416992,
            -0.06605684757232666
        ],
        "angular_velocity": [
            0.000858242972753942,
            0.3359953761100769,
            0.31192633509635925
        ],
        "forward_vector": [
            -0.9543114900588989,
            0.296766072511673,
            -0.034920744597911835
        ],
        "right_vector": [
            -0.29696452617645264,
            -0.9548883438110352,
            0.0005211298703216016
        ],
        "location": [
            -1069.5186767578125,
            3063.636474609375,
            356.1897277832031
        ],
        "rotation": [
            -0.029876766726374626,
            -2.00121808052063,
            162.7256622314453
        ],
        "velocity": [
            -11.539664268493652,
            3.5854737758636475,
            -0.4796547591686249
        ],
        "speed": 12.08385177114297,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 74.22844696044922,
        "front_vehicle_info": {
            "id": 4048,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1135.3892822265625,
                3097.775634765625,
                353.85662841796875
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 4062,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1167.103515625,
                        "y": 3094.982666015625,
                        "z": 352.6941223144531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4061,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1167.0250244140625,
                        "y": 3098.482177734375,
                        "z": 352.6941223144531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4060,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1166.9468994140625,
                        "y": 3101.981201171875,
                        "z": 352.6941223144531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4059,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1166.8687744140625,
                        "y": 3105.47998046875,
                        "z": 352.6941223144531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4058,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.4738856554031372,
                "transform": {
                    "location": {
                        "x": -1026.442626953125,
                        "y": 3081.336181640625,
                        "z": 356.55218505859375
                    },
                    "rotation": {
                        "roll": -0.0031127932015806437,
                        "pitch": -0.27279090881347656,
                        "yaw": 178.89666748046875
                    }
                },
                "velocity": {
                    "x": -1.4738270044326782,
                    "y": 0.006802260875701904,
                    "z": -0.011246909387409687
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4057,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.1296091079711914,
                "transform": {
                    "location": {
                        "x": -1027.1827392578125,
                        "y": 3077.84619140625,
                        "z": 356.5543212890625
                    },
                    "rotation": {
                        "roll": -0.004577635787427425,
                        "pitch": -0.12628336250782013,
                        "yaw": 179.023193359375
                    }
                },
                "velocity": {
                    "x": -3.129262685775757,
                    "y": 0.044407181441783905,
                    "z": -0.014029741287231445
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.871372699737549,
                "transform": {
                    "location": {
                        "x": -1042.6129150390625,
                        "y": 3074.697998046875,
                        "z": 356.4276428222656
                    },
                    "rotation": {
                        "roll": -0.00036621085018850863,
                        "pitch": -0.4719250500202179,
                        "yaw": 178.71847534179688
                    }
                },
                "velocity": {
                    "x": -4.869843482971191,
                    "y": 0.10894624143838882,
                    "z": -0.055029477924108505
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4055,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1151.2855224609375,
                        "y": 3094.629638671875,
                        "z": 353.2798767089844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4054,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1151.2071533203125,
                        "y": 3098.128662109375,
                        "z": 353.2798767089844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4053,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1151.1290283203125,
                        "y": 3101.627685546875,
                        "z": 353.2798767089844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1151.0509033203125,
                        "y": 3105.126708984375,
                        "z": 353.2798767089844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.062808990478516,
                "transform": {
                    "location": {
                        "x": -1050.9195556640625,
                        "y": 3078.28564453125,
                        "z": 356.3135986328125
                    },
                    "rotation": {
                        "roll": 0.0012576727895066142,
                        "pitch": -0.9427504539489746,
                        "yaw": 178.72445678710938
                    }
                },
                "velocity": {
                    "x": -8.059918403625488,
                    "y": 0.17779384553432465,
                    "z": -0.12242555618286133
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.084709167480469,
                "transform": {
                    "location": {
                        "x": -1050.375732421875,
                        "y": 3081.7744140625,
                        "z": 356.3109436035156
                    },
                    "rotation": {
                        "roll": 0.0006128083914518356,
                        "pitch": -0.8859847784042358,
                        "yaw": 178.74176025390625
                    }
                },
                "velocity": {
                    "x": -8.0816650390625,
                    "y": 0.17916645109653473,
                    "z": -0.13080167770385742
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4049,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1135.4676513671875,
                        "y": 3094.276123046875,
                        "z": 353.85662841796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4048,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1135.3892822265625,
                        "y": 3097.775634765625,
                        "z": 353.85662841796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4047,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1135.3111572265625,
                        "y": 3101.274658203125,
                        "z": 353.85662841796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4046,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1135.2330322265625,
                        "y": 3104.773681640625,
                        "z": 353.85662841796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.869333267211914,
                "transform": {
                    "location": {
                        "x": -1098.947265625,
                        "y": 3075.95654296875,
                        "z": 355.17010498046875
                    },
                    "rotation": {
                        "roll": -0.0010070833377540112,
                        "pitch": -1.8952885866165161,
                        "yaw": 178.72218322753906
                    }
                },
                "velocity": {
                    "x": -15.856806755065918,
                    "y": 0.3536836504936218,
                    "z": -0.5218367576599121
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4035,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1305.8323974609375,
                        "y": 3080.74951171875,
                        "z": 346.27740478515625
                    },
                    "rotation": {
                        "roll": -3.3368174889858437e-09,
                        "pitch": -1.8632686138153076,
                        "yaw": 177.78689575195312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4034,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1259.575439453125,
                        "y": 3079.544677734375,
                        "z": 348.0695495605469
                    },
                    "rotation": {
                        "roll": 6.677452368819559e-09,
                        "pitch": -2.687856912612915,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1218.26171875,
                        "y": 3078.621826171875,
                        "z": 350.14599609375
                    },
                    "rotation": {
                        "roll": -3.339781340372383e-09,
                        "pitch": -3.049187421798706,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4032,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1194.2862548828125,
                        "y": 3078.08642578125,
                        "z": 351.44598388671875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.987053394317627,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.44991111755371,
                "transform": {
                    "location": {
                        "x": -1123.46142578125,
                        "y": 3076.50390625,
                        "z": 354.30438232421875
                    },
                    "rotation": {
                        "roll": -0.0006408705376088619,
                        "pitch": -2.119899272918701,
                        "yaw": 178.72421264648438
                    }
                },
                "velocity": {
                    "x": -16.434843063354492,
                    "y": 0.36810070276260376,
                    "z": -0.5999780893325806
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.744070529937744,
                "transform": {
                    "location": {
                        "x": -1021.354736328125,
                        "y": 3050.28173828125,
                        "z": 358.7451477050781
                    },
                    "rotation": {
                        "roll": 0.02596144564449787,
                        "pitch": -3.437955141067505,
                        "yaw": 167.7943572998047
                    }
                },
                "velocity": {
                    "x": -7.554858207702637,
                    "y": 1.6396135091781616,
                    "z": -0.4543302059173584
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.064797401428223,
                "transform": {
                    "location": {
                        "x": -1038.4288330078125,
                        "y": 3054.300537109375,
                        "z": 357.7349853515625
                    },
                    "rotation": {
                        "roll": 0.027344662696123123,
                        "pitch": -3.1707444190979004,
                        "yaw": 165.8118133544922
                    }
                },
                "velocity": {
                    "x": -7.802436828613281,
                    "y": 1.9916319847106934,
                    "z": -0.4431079030036926
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.129559725522995,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            50.06435670801607,
            5.999362207431702
        ],
        "target_point_next": [
            62.447513731526406,
            9.411717479363237
        ]
    },
    "230": {
        "acceleration": [
            -1.4844512939453125,
            0.14566421508789062,
            0.07123410701751709
        ],
        "angular_velocity": [
            -0.30778777599334717,
            0.03253285586833954,
            1.216162085533142
        ],
        "forward_vector": [
            -0.9551876783370972,
            0.2938486337661743,
            -0.03563030809164047
        ],
        "right_vector": [
            -0.29407933354377747,
            -0.9557802081108093,
            0.001297732233069837
        ],
        "location": [
            -1072.453369140625,
            3064.543701171875,
            356.0697326660156
        ],
        "rotation": [
            -0.0744018480181694,
            -2.041898488998413,
            162.90029907226562
        ],
        "velocity": [
            -11.909822463989258,
            3.6501195430755615,
            -0.479602575302124
        ],
        "speed": 12.456614459895807,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 69.34779357910156,
        "front_vehicle_info": {
            "id": 4048,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1133.3079833984375,
                3097.72900390625,
                353.9325256347656
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 4062,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1165.0220947265625,
                        "y": 3094.936767578125,
                        "z": 352.769287109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4061,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1164.9437255859375,
                        "y": 3098.435791015625,
                        "z": 352.769287109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4060,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1164.8656005859375,
                        "y": 3101.934814453125,
                        "z": 352.769287109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4059,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1164.7874755859375,
                        "y": 3105.43408203125,
                        "z": 352.769287109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4058,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.9608780145645142,
                "transform": {
                    "location": {
                        "x": -1026.868896484375,
                        "y": 3081.342041015625,
                        "z": 356.5494384765625
                    },
                    "rotation": {
                        "roll": -0.0014953608624637127,
                        "pitch": -0.30062392354011536,
                        "yaw": 178.98194885253906
                    }
                },
                "velocity": {
                    "x": -1.9606661796569824,
                    "y": 0.02555960603058338,
                    "z": -0.013327522203326225
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4057,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.650479316711426,
                "transform": {
                    "location": {
                        "x": -1028.1688232421875,
                        "y": 3077.85986328125,
                        "z": 356.54937744140625
                    },
                    "rotation": {
                        "roll": -0.005371092818677425,
                        "pitch": -0.13022437691688538,
                        "yaw": 179.13536071777344
                    }
                },
                "velocity": {
                    "x": -4.649975776672363,
                    "y": 0.06302239000797272,
                    "z": -0.02672186866402626
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.480618000030518,
                "transform": {
                    "location": {
                        "x": -1043.944091796875,
                        "y": 3074.727783203125,
                        "z": 356.4123840332031
                    },
                    "rotation": {
                        "roll": 0.002250595483928919,
                        "pitch": -0.6615857481956482,
                        "yaw": 178.69937133789062
                    }
                },
                "velocity": {
                    "x": -5.478770732879639,
                    "y": 0.12272288650274277,
                    "z": -0.07198143005371094
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4055,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1149.22119140625,
                        "y": 3094.583984375,
                        "z": 353.35516357421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4054,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1149.1258544921875,
                        "y": 3098.082763671875,
                        "z": 353.3558044433594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4053,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1149.0477294921875,
                        "y": 3101.581787109375,
                        "z": 353.3558044433594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1148.9696044921875,
                        "y": 3105.080810546875,
                        "z": 353.3558044433594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.056501388549805,
                "transform": {
                    "location": {
                        "x": -1052.9332275390625,
                        "y": 3078.329833984375,
                        "z": 356.28045654296875
                    },
                    "rotation": {
                        "roll": 7.302343874471262e-05,
                        "pitch": -0.9849473834037781,
                        "yaw": 178.74937438964844
                    }
                },
                "velocity": {
                    "x": -8.053353309631348,
                    "y": 0.17754167318344116,
                    "z": -0.13852980732917786
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.026004791259766,
                "transform": {
                    "location": {
                        "x": -1052.38720703125,
                        "y": 3081.819091796875,
                        "z": 356.2785949707031
                    },
                    "rotation": {
                        "roll": -0.0004577648069243878,
                        "pitch": -0.9870920777320862,
                        "yaw": 178.72943115234375
                    }
                },
                "velocity": {
                    "x": -8.022812843322754,
                    "y": 0.17989809811115265,
                    "z": -0.13734179735183716
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4049,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.167227745056152,
                "transform": {
                    "location": {
                        "x": -1133.4105224609375,
                        "y": 3094.234619140625,
                        "z": 353.93133544921875
                    },
                    "rotation": {
                        "roll": -0.0172119103372097,
                        "pitch": 2.058284282684326,
                        "yaw": -1.1081238985061646
                    }
                },
                "velocity": {
                    "x": 8.160947799682617,
                    "y": -0.12817804515361786,
                    "z": 0.2934681177139282
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4048,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1133.3079833984375,
                        "y": 3097.72900390625,
                        "z": 353.9325256347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4047,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1133.2298583984375,
                        "y": 3101.22802734375,
                        "z": 353.9325256347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4046,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1133.1517333984375,
                        "y": 3104.72705078125,
                        "z": 353.9325256347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.869155883789062,
                "transform": {
                    "location": {
                        "x": -1102.9110107421875,
                        "y": 3076.044921875,
                        "z": 355.03851318359375
                    },
                    "rotation": {
                        "roll": 0.00035879190545529127,
                        "pitch": -1.9225752353668213,
                        "yaw": 178.7220001220703
                    }
                },
                "velocity": {
                    "x": -15.855815887451172,
                    "y": 0.3556884825229645,
                    "z": -0.5447091460227966
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4035,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1310.0767822265625,
                        "y": 3080.924560546875,
                        "z": 346.15045166015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.6445318460464478,
                        "yaw": 177.54510498046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4034,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1263.818603515625,
                        "y": 3079.6396484375,
                        "z": 347.873779296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.5830066204071045,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1222.50341796875,
                        "y": 3078.716796875,
                        "z": 349.9206848144531
                    },
                    "rotation": {
                        "roll": 3.339633902754713e-09,
                        "pitch": -3.001253366470337,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4032,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1198.528076171875,
                        "y": 3078.18115234375,
                        "z": 351.2214660644531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.109067678451538,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.449657440185547,
                "transform": {
                    "location": {
                        "x": -1127.570068359375,
                        "y": 3076.59619140625,
                        "z": 354.1545104980469
                    },
                    "rotation": {
                        "roll": -0.0014343239599838853,
                        "pitch": -2.1197149753570557,
                        "yaw": 178.71835327148438
                    }
                },
                "velocity": {
                    "x": -16.43466567993164,
                    "y": 0.3656594753265381,
                    "z": -0.5994307398796082
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.81915283203125,
                "transform": {
                    "location": {
                        "x": -1023.250732421875,
                        "y": 3050.696533203125,
                        "z": 358.63116455078125
                    },
                    "rotation": {
                        "roll": 0.050393518060445786,
                        "pitch": -3.417696714401245,
                        "yaw": 167.63121032714844
                    }
                },
                "velocity": {
                    "x": -7.6184515953063965,
                    "y": 1.699758768081665,
                    "z": -0.4573426842689514
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.072328567504883,
                "transform": {
                    "location": {
                        "x": -1040.380615234375,
                        "y": 3054.80126953125,
                        "z": 357.62530517578125
                    },
                    "rotation": {
                        "roll": 0.016519973054528236,
                        "pitch": -3.1177353858947754,
                        "yaw": 165.59481811523438
                    }
                },
                "velocity": {
                    "x": -7.805511951446533,
                    "y": 2.0118203163146973,
                    "z": -0.43480077385902405
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.10380963981151581,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            47.01069019681933,
            5.8509614138104356
        ],
        "target_point_next": [
            59.40419034952882,
            9.22555773568099
        ]
    },
    "235": {
        "acceleration": [
            -1.2253570556640625,
            0.009021759033203125,
            0.05086362361907959
        ],
        "angular_velocity": [
            -0.11273649334907532,
            0.2949439585208893,
            1.6242260932922363
        ],
        "forward_vector": [
            -0.9571614861488342,
            0.28748834133148193,
            -0.03453056886792183
        ],
        "right_vector": [
            -0.2877361476421356,
            -0.957706868648529,
            0.0023283418267965317
        ],
        "location": [
            -1075.4739990234375,
            3065.459228515625,
            355.95013427734375
        ],
        "rotation": [
            -0.13348388671875,
            -1.978849172592163,
            163.28208923339844
        ],
        "velocity": [
            -12.23964786529541,
            3.6649773120880127,
            -0.4728265404701233
        ],
        "speed": 12.776581646299231,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 64.48198699951172,
        "front_vehicle_info": {
            "id": 4048,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1131.28515625,
                3097.697021484375,
                354.0096130371094
            ],
            "velocity": [
                7.938630104064941,
                -0.07869599759578705,
                0.3031207323074341
            ],
            "speed_kmh": 28.601297247704622,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 4062,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1163.016845703125,
                        "y": 3094.89208984375,
                        "z": 352.845458984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4061,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1162.90087890625,
                        "y": 3098.389892578125,
                        "z": 352.84686279296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4060,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1162.7999267578125,
                        "y": 3101.888671875,
                        "z": 352.84771728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4059,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1162.7061767578125,
                        "y": 3105.387451171875,
                        "z": 352.8483581542969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4058,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.546998977661133,
                "transform": {
                    "location": {
                        "x": -1027.4354248046875,
                        "y": 3081.349853515625,
                        "z": 356.5462341308594
                    },
                    "rotation": {
                        "roll": -0.0014038084773346782,
                        "pitch": -0.32297229766845703,
                        "yaw": 179.05938720703125
                    }
                },
                "velocity": {
                    "x": -2.546752452850342,
                    "y": 0.03252993896603584,
                    "z": -0.01405877061188221
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4057,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.436188697814941,
                "transform": {
                    "location": {
                        "x": -1029.46923828125,
                        "y": 3077.876708984375,
                        "z": 356.5414123535156
                    },
                    "rotation": {
                        "roll": -0.005889892112463713,
                        "pitch": -0.21771226823329926,
                        "yaw": 179.22032165527344
                    }
                },
                "velocity": {
                    "x": -5.435635089874268,
                    "y": 0.07012984156608582,
                    "z": -0.03311785310506821
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.959274768829346,
                "transform": {
                    "location": {
                        "x": -1045.421875,
                        "y": 3074.761474609375,
                        "z": 356.3923645019531
                    },
                    "rotation": {
                        "roll": 0.0023573788348585367,
                        "pitch": -0.549837052822113,
                        "yaw": 178.64569091796875
                    }
                },
                "velocity": {
                    "x": -6.956814289093018,
                    "y": 0.15910576283931732,
                    "z": -0.09448353201150894
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4055,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1147.21142578125,
                        "y": 3094.539306640625,
                        "z": 353.4284362792969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4054,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1147.09033203125,
                        "y": 3098.037109375,
                        "z": 353.4300231933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4053,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1146.9874267578125,
                        "y": 3101.53564453125,
                        "z": 353.43084716796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1146.9053955078125,
                        "y": 3105.03466796875,
                        "z": 353.4309997558594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.059823036193848,
                "transform": {
                    "location": {
                        "x": -1054.947021484375,
                        "y": 3078.375,
                        "z": 356.2459716796875
                    },
                    "rotation": {
                        "roll": 0.0017455449560657144,
                        "pitch": -0.9776595830917358,
                        "yaw": 178.71263122558594
                    }
                },
                "velocity": {
                    "x": -8.05664348602295,
                    "y": 0.1799105554819107,
                    "z": -0.13734839856624603
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.085160255432129,
                "transform": {
                    "location": {
                        "x": -1054.40087890625,
                        "y": 3081.86376953125,
                        "z": 356.2440490722656
                    },
                    "rotation": {
                        "roll": -0.0005187976639717817,
                        "pitch": -0.9756446480751038,
                        "yaw": 178.72439575195312
                    }
                },
                "velocity": {
                    "x": -8.081977844238281,
                    "y": 0.17996807396411896,
                    "z": -0.13804176449775696
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4049,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.8663129806518555,
                "transform": {
                    "location": {
                        "x": -1131.4090576171875,
                        "y": 3094.210205078125,
                        "z": 354.00360107421875
                    },
                    "rotation": {
                        "roll": 0.001343808602541685,
                        "pitch": 2.0748679637908936,
                        "yaw": -0.6451110243797302
                    }
                },
                "velocity": {
                    "x": 7.860744953155518,
                    "y": -0.07862591743469238,
                    "z": 0.28528308868408203
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4048,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.944804668426514,
                "transform": {
                    "location": {
                        "x": -1131.28515625,
                        "y": 3097.697021484375,
                        "z": 354.0096130371094
                    },
                    "rotation": {
                        "roll": -0.0426025353372097,
                        "pitch": 2.0539333820343018,
                        "yaw": -0.838653564453125
                    }
                },
                "velocity": {
                    "x": 7.938630104064941,
                    "y": -0.07869599759578705,
                    "z": 0.3031207323074341
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4047,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.983138561248779,
                "transform": {
                    "location": {
                        "x": -1131.181396484375,
                        "y": 3101.18896484375,
                        "z": 354.00909423828125
                    },
                    "rotation": {
                        "roll": -0.0479736328125,
                        "pitch": 2.045832872390747,
                        "yaw": -1.02825927734375
                    }
                },
                "velocity": {
                    "x": 7.976720809936523,
                    "y": -0.09239544719457626,
                    "z": 0.30641958117485046
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4046,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.169890403747559,
                "transform": {
                    "location": {
                        "x": -1131.0948486328125,
                        "y": 3104.6875,
                        "z": 354.0170593261719
                    },
                    "rotation": {
                        "roll": -0.02569579891860485,
                        "pitch": 2.069035053253174,
                        "yaw": -1.0387877225875854
                    }
                },
                "velocity": {
                    "x": 8.158915519714355,
                    "y": -0.06661748141050339,
                    "z": 0.41805487871170044
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.871317863464355,
                "transform": {
                    "location": {
                        "x": -1106.8746337890625,
                        "y": 3076.1337890625,
                        "z": 354.9002990722656
                    },
                    "rotation": {
                        "roll": -0.001129147713072598,
                        "pitch": -2.037752628326416,
                        "yaw": 178.71127319335938
                    }
                },
                "velocity": {
                    "x": -15.857369422912598,
                    "y": 0.3543446362018585,
                    "z": -0.5630258321762085
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4035,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.320556640625,
                        "y": 3081.114990234375,
                        "z": 346.0373840332031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.4258360862731934,
                        "yaw": 177.3032989501953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4034,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1268.061767578125,
                        "y": 3079.734375,
                        "z": 347.6843566894531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.478149652481079,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1226.7447509765625,
                        "y": 3078.8115234375,
                        "z": 349.6982421875
                    },
                    "rotation": {
                        "roll": -3.339488463538487e-09,
                        "pitch": -2.9532439708709717,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4032,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1202.76904296875,
                        "y": 3078.27587890625,
                        "z": 350.99078369140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.154447555541992,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.44967269897461,
                "transform": {
                    "location": {
                        "x": -1131.6785888671875,
                        "y": 3076.6875,
                        "z": 354.0046691894531
                    },
                    "rotation": {
                        "roll": 0.0011157949920743704,
                        "pitch": -2.119475841522217,
                        "yaw": 178.72491455078125
                    }
                },
                "velocity": {
                    "x": -16.43463134765625,
                    "y": 0.36805862188339233,
                    "z": -0.5992786884307861
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.802684307098389,
                "transform": {
                    "location": {
                        "x": -1025.1553955078125,
                        "y": 3051.123779296875,
                        "z": 358.5163879394531
                    },
                    "rotation": {
                        "roll": 0.04510876163840294,
                        "pitch": -3.4210503101348877,
                        "yaw": 167.3352508544922
                    }
                },
                "velocity": {
                    "x": -7.597193241119385,
                    "y": 1.7185416221618652,
                    "z": -0.45951032638549805
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.062578201293945,
                "transform": {
                    "location": {
                        "x": -1042.330810546875,
                        "y": 3055.30615234375,
                        "z": 357.5171813964844
                    },
                    "rotation": {
                        "roll": 0.02037542127072811,
                        "pitch": -3.0661604404449463,
                        "yaw": 165.46592712402344
                    }
                },
                "velocity": {
                    "x": -7.787107467651367,
                    "y": 2.045689821243286,
                    "z": -0.4257744550704956
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.07163388282060623,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            43.89231682963482,
            5.545503388687484
        ],
        "target_point_next": [
            56.30802770552016,
            8.83744351833976
        ]
    },
    "240": {
        "acceleration": [
            -1.4469146728515625,
            -0.1420116424560547,
            -0.04108428955078125
        ],
        "angular_velocity": [
            0.17012113332748413,
            0.7183101177215576,
            1.9958089590072632
        ],
        "forward_vector": [
            -0.959351658821106,
            0.2803792953491211,
            -0.03212232515215874
        ],
        "right_vector": [
            -0.2806163728237152,
            -0.9598152041435242,
            0.003033367684110999
        ],
        "location": [
            -1078.57861328125,
            3066.377685546875,
            355.8344421386719
        ],
        "rotation": [
            -0.1738891750574112,
            -1.8407905101776123,
            163.70851135253906
        ],
        "velocity": [
            -12.576704978942871,
            3.659851312637329,
            -0.4522882103919983
        ],
        "speed": 13.0983976026833,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 73.62339782714844,
        "front_vehicle_info": {
            "id": 4054,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                -1145.0284423828125,
                3097.990966796875,
                353.50518798828125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4062,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1160.9713134765625,
                        "y": 3094.84619140625,
                        "z": 352.9234619140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4061,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1160.8463134765625,
                        "y": 3098.343994140625,
                        "z": 352.9252624511719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4060,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1160.741455078125,
                        "y": 3101.8427734375,
                        "z": 352.92626953125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4059,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1160.650146484375,
                        "y": 3105.341552734375,
                        "z": 352.9267883300781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4058,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.118802070617676,
                "transform": {
                    "location": {
                        "x": -1028.14501953125,
                        "y": 3081.35986328125,
                        "z": 356.54248046875
                    },
                    "rotation": {
                        "roll": -0.002349853515625,
                        "pitch": -0.3440229594707489,
                        "yaw": 179.13229370117188
                    }
                },
                "velocity": {
                    "x": -3.1185007095336914,
                    "y": 0.03949083760380745,
                    "z": -0.01787491701543331
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4057,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.533863544464111,
                "transform": {
                    "location": {
                        "x": -1030.8905029296875,
                        "y": 3077.89501953125,
                        "z": 356.5324401855469
                    },
                    "rotation": {
                        "roll": -0.00616455078125,
                        "pitch": -0.19177120923995972,
                        "yaw": 179.2691192626953
                    }
                },
                "velocity": {
                    "x": -6.533229351043701,
                    "y": 0.0814262256026268,
                    "z": -0.04067021608352661
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.24404239654541,
                "transform": {
                    "location": {
                        "x": -1047.3472900390625,
                        "y": 3074.804931640625,
                        "z": 356.36639404296875
                    },
                    "rotation": {
                        "roll": 0.00012927317584399134,
                        "pitch": -0.5564554929733276,
                        "yaw": 178.68414306640625
                    }
                },
                "velocity": {
                    "x": -8.241203308105469,
                    "y": 0.185921773314476,
                    "z": -0.11063341051340103
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4055,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1145.1534423828125,
                        "y": 3094.4931640625,
                        "z": 353.5035095214844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4054,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1145.0284423828125,
                        "y": 3097.990966796875,
                        "z": 353.50518798828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4053,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1144.923583984375,
                        "y": 3101.4892578125,
                        "z": 353.50616455078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1144.832275390625,
                        "y": 3104.988037109375,
                        "z": 353.5066223144531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.060905456542969,
                "transform": {
                    "location": {
                        "x": -1056.9610595703125,
                        "y": 3078.419677734375,
                        "z": 356.21142578125
                    },
                    "rotation": {
                        "roll": -0.0005798345664516091,
                        "pitch": -0.994106650352478,
                        "yaw": 178.73715209960938
                    }
                },
                "velocity": {
                    "x": -8.057635307312012,
                    "y": 0.17927296459674835,
                    "z": -0.14344367384910583
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.029327392578125,
                "transform": {
                    "location": {
                        "x": -1056.414306640625,
                        "y": 3081.90869140625,
                        "z": 356.2098083496094
                    },
                    "rotation": {
                        "roll": 0.00011254514538450167,
                        "pitch": -0.9748250246047974,
                        "yaw": 178.72439575195312
                    }
                },
                "velocity": {
                    "x": -8.026165008544922,
                    "y": 0.17868301272392273,
                    "z": -0.1372874677181244
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.872899055480957,
                "transform": {
                    "location": {
                        "x": -1110.8387451171875,
                        "y": 3076.22216796875,
                        "z": 354.7585144042969
                    },
                    "rotation": {
                        "roll": -0.0006408686749637127,
                        "pitch": -2.086977958679199,
                        "yaw": 178.73060607910156
                    }
                },
                "velocity": {
                    "x": -15.858553886413574,
                    "y": 0.35209086537361145,
                    "z": -0.575538694858551
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4035,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1318.5643310546875,
                        "y": 3081.3212890625,
                        "z": 345.9383239746094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.2071539163589478,
                        "yaw": 177.0615234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4034,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1272.304443359375,
                        "y": 3079.8291015625,
                        "z": 347.5011901855469
                    },
                    "rotation": {
                        "roll": -1.6689581938678089e-09,
                        "pitch": -2.3733267784118652,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1230.985595703125,
                        "y": 3078.90625,
                        "z": 349.4787292480469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.9053027629852295,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4032,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1207.0093994140625,
                        "y": 3078.37060546875,
                        "z": 350.7577209472656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.1450493335723877,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.4497013092041,
                "transform": {
                    "location": {
                        "x": -1135.787353515625,
                        "y": 3076.779296875,
                        "z": 353.8548278808594
                    },
                    "rotation": {
                        "roll": 0.00180542329326272,
                        "pitch": -2.1189842224121094,
                        "yaw": 178.7159881591797
                    }
                },
                "velocity": {
                    "x": -16.434648513793945,
                    "y": 0.3679932951927185,
                    "z": -0.5996462106704712
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.781532287597656,
                "transform": {
                    "location": {
                        "x": -1027.0501708984375,
                        "y": 3051.552734375,
                        "z": 358.40234375
                    },
                    "rotation": {
                        "roll": 0.01567162200808525,
                        "pitch": -3.437319755554199,
                        "yaw": 167.22183227539062
                    }
                },
                "velocity": {
                    "x": -7.574706077575684,
                    "y": 1.7226330041885376,
                    "z": -0.4567374289035797
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.067533493041992,
                "transform": {
                    "location": {
                        "x": -1044.27734375,
                        "y": 3055.82275390625,
                        "z": 357.4110412597656
                    },
                    "rotation": {
                        "roll": 0.026563283056020737,
                        "pitch": -3.0086982250213623,
                        "yaw": 165.12429809570312
                    }
                },
                "velocity": {
                    "x": -7.783546447753906,
                    "y": 2.079634666442871,
                    "z": -0.42025449872016907
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0727321207523346,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            40.694769157646746,
            5.229345106543962
        ],
        "target_point_next": [
            53.13463613321845,
            8.428791308759738
        ]
    },
    "245": {
        "acceleration": [
            -1.0159492492675781,
            -0.4457712173461914,
            -0.13794422149658203
        ],
        "angular_velocity": [
            -0.07269072532653809,
            -0.4300651252269745,
            3.2231533527374268
        ],
        "forward_vector": [
            -0.9627649784088135,
            0.26839902997016907,
            -0.032335247844457626
        ],
        "right_vector": [
            -0.2686290442943573,
            -0.9632393717765808,
            0.0029109057504683733
        ],
        "location": [
            -1081.7620849609375,
            3067.28369140625,
            355.7218933105469
        ],
        "rotation": [
            -0.1668701171875,
            -1.8529961109161377,
            164.42262268066406
        ],
        "velocity": [
            -12.874470710754395,
            3.56522274017334,
            -0.4564962685108185
        ],
        "speed": 13.358997315259924,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 68.48546600341797,
        "front_vehicle_info": {
            "id": 4054,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                -1142.962646484375,
                3097.94580078125,
                353.58056640625
            ],
            "velocity": [
                7.9670891761779785,
                -0.12362866848707199,
                0.3007317781448364
            ],
            "speed_kmh": 28.705397181407285,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4062,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1158.906982421875,
                        "y": 3094.80029296875,
                        "z": 353.00128173828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4061,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1158.7650146484375,
                        "y": 3098.29736328125,
                        "z": 353.003662109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4060,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1158.6600341796875,
                        "y": 3101.796142578125,
                        "z": 353.0046691894531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4059,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1158.56884765625,
                        "y": 3105.294921875,
                        "z": 353.00518798828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4058,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.8485219478607178,
                "transform": {
                    "location": {
                        "x": -1029.01513671875,
                        "y": 3081.37109375,
                        "z": 356.5369567871094
                    },
                    "rotation": {
                        "roll": -0.004364013671875,
                        "pitch": -0.33749330043792725,
                        "yaw": 179.1940155029297
                    }
                },
                "velocity": {
                    "x": -3.8481502532958984,
                    "y": 0.04802582785487175,
                    "z": -0.02355002425611019
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4057,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.054465293884277,
                "transform": {
                    "location": {
                        "x": -1032.7655029296875,
                        "y": 3077.921142578125,
                        "z": 356.5206604003906
                    },
                    "rotation": {
                        "roll": 0.006416456773877144,
                        "pitch": -0.13479377329349518,
                        "yaw": 179.1812744140625
                    }
                },
                "velocity": {
                    "x": -8.053330421447754,
                    "y": 0.12573425471782684,
                    "z": -0.04974924400448799
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.491575241088867,
                "transform": {
                    "location": {
                        "x": -1049.5672607421875,
                        "y": 3074.854736328125,
                        "z": 356.3356018066406
                    },
                    "rotation": {
                        "roll": 0.0009831275092437863,
                        "pitch": -0.6247231960296631,
                        "yaw": 178.73277282714844
                    }
                },
                "velocity": {
                    "x": -9.48814582824707,
                    "y": 0.21214278042316437,
                    "z": -0.14173726737499237
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4055,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.16651439666748,
                "transform": {
                    "location": {
                        "x": -1143.0963134765625,
                        "y": 3094.449951171875,
                        "z": 353.578125
                    },
                    "rotation": {
                        "roll": -0.013610838912427425,
                        "pitch": 2.059295177459717,
                        "yaw": -1.1389769315719604
                    }
                },
                "velocity": {
                    "x": 8.160076141357422,
                    "y": -0.13903453946113586,
                    "z": 0.2928798496723175
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4054,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.973721504211426,
                "transform": {
                    "location": {
                        "x": -1142.962646484375,
                        "y": 3097.94580078125,
                        "z": 353.58056640625
                    },
                    "rotation": {
                        "roll": 0.011913035996258259,
                        "pitch": 2.115172863006592,
                        "yaw": -1.2308349609375
                    }
                },
                "velocity": {
                    "x": 7.9670891761779785,
                    "y": -0.12362866848707199,
                    "z": 0.3007317781448364
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4053,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1142.84228515625,
                        "y": 3101.442626953125,
                        "z": 353.5820617675781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1142.7508544921875,
                        "y": 3104.94140625,
                        "z": 353.5824890136719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.060378074645996,
                "transform": {
                    "location": {
                        "x": -1058.974609375,
                        "y": 3078.464599609375,
                        "z": 356.1754455566406
                    },
                    "rotation": {
                        "roll": -6.103468331275508e-05,
                        "pitch": -1.0737261772155762,
                        "yaw": 178.7076873779297
                    }
                },
                "velocity": {
                    "x": -8.057117462158203,
                    "y": 0.1792226880788803,
                    "z": -0.14290961623191833
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.084074974060059,
                "transform": {
                    "location": {
                        "x": -1058.4276123046875,
                        "y": 3081.953369140625,
                        "z": 356.1739501953125
                    },
                    "rotation": {
                        "roll": -0.0004272485966794193,
                        "pitch": -1.0431474447250366,
                        "yaw": 178.7230987548828
                    }
                },
                "velocity": {
                    "x": -8.080718994140625,
                    "y": 0.18006287515163422,
                    "z": -0.14773696660995483
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.8733549118042,
                "transform": {
                    "location": {
                        "x": -1114.80322265625,
                        "y": 3076.310546875,
                        "z": 354.61358642578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.096949815750122,
                        "yaw": 178.7187957763672
                    }
                },
                "velocity": {
                    "x": -15.858795166015625,
                    "y": 0.3543112576007843,
                    "z": -0.580059289932251
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4035,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1322.8076171875,
                        "y": 3081.541748046875,
                        "z": 345.8519592285156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.9884580969810486,
                        "yaw": 176.8197784423828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4034,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1276.547119140625,
                        "y": 3079.924072265625,
                        "z": 347.3243408203125
                    },
                    "rotation": {
                        "roll": -1.6688344040005632e-09,
                        "pitch": -2.268462896347046,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1235.226318359375,
                        "y": 3079.00048828125,
                        "z": 349.2620544433594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.9053027629852295,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4032,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1211.249755859375,
                        "y": 3078.46484375,
                        "z": 350.52496337890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.0971081256866455,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.44970703125,
                "transform": {
                    "location": {
                        "x": -1139.89599609375,
                        "y": 3076.87109375,
                        "z": 353.705078125
                    },
                    "rotation": {
                        "roll": 0.0002564842579886317,
                        "pitch": -2.1191959381103516,
                        "yaw": 178.71832275390625
                    }
                },
                "velocity": {
                    "x": -16.43470573425293,
                    "y": 0.3661269545555115,
                    "z": -0.5993481874465942
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.137262344360352,
                "transform": {
                    "location": {
                        "x": -1028.976806640625,
                        "y": 3051.9990234375,
                        "z": 358.2856140136719
                    },
                    "rotation": {
                        "roll": 0.053110163658857346,
                        "pitch": -3.333897113800049,
                        "yaw": 166.92166137695312
                    }
                },
                "velocity": {
                    "x": -7.907504081726074,
                    "y": 1.8600016832351685,
                    "z": -0.4762398302555084
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.067315101623535,
                "transform": {
                    "location": {
                        "x": -1046.223388671875,
                        "y": 3056.3447265625,
                        "z": 357.30694580078125
                    },
                    "rotation": {
                        "roll": 0.007289874833077192,
                        "pitch": -2.955197334289551,
                        "yaw": 164.97564697265625
                    }
                },
                "velocity": {
                    "x": -7.779952049255371,
                    "y": 2.0933780670166016,
                    "z": -0.41435787081718445
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0819113627076149,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            37.44694840546072,
            4.739571948613202
        ],
        "target_point_next": [
            49.9257261252588,
            7.7837225675319575
        ]
    },
    "250": {
        "acceleration": [
            -0.5729103088378906,
            -1.1339187622070312,
            0.5620259046554565
        ],
        "angular_velocity": [
            0.28179627656936646,
            1.298856496810913,
            4.9335408210754395
        ],
        "forward_vector": [
            -0.9669972658157349,
            0.2525155544281006,
            -0.03394344449043274
        ],
        "right_vector": [
            -0.25271672010421753,
            -0.9675388336181641,
            0.0017018424114212394
        ],
        "location": [
            -1085.0050048828125,
            3068.1572265625,
            355.60601806640625
        ],
        "rotation": [
            -0.09756466001272202,
            -1.9451899528503418,
            165.36495971679688
        ],
        "velocity": [
            -13.05344295501709,
            3.362454414367676,
            -0.4371899962425232
        ],
        "speed": 13.479557584304686,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 63.42190170288086,
        "front_vehicle_info": {
            "id": 4054,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                -1140.9761962890625,
                3097.9189453125,
                353.65582275390625
            ],
            "velocity": [
                7.928951263427734,
                -0.08270631730556488,
                0.2947255074977875
            ],
            "speed_kmh": 28.565488826618324,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4062,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1156.8970947265625,
                        "y": 3094.755615234375,
                        "z": 353.0748291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4061,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1156.777587890625,
                        "y": 3098.252685546875,
                        "z": 353.07635498046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4060,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1156.6219482421875,
                        "y": 3101.75048828125,
                        "z": 353.07916259765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4059,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1156.5157470703125,
                        "y": 3105.2490234375,
                        "z": 353.08026123046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4058,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.771360397338867,
                "transform": {
                    "location": {
                        "x": -1030.0933837890625,
                        "y": 3081.38525390625,
                        "z": 356.5300598144531
                    },
                    "rotation": {
                        "roll": -0.0037536618765443563,
                        "pitch": -0.32876431941986084,
                        "yaw": 179.24237060546875
                    }
                },
                "velocity": {
                    "x": -4.770905017852783,
                    "y": 0.05881548300385475,
                    "z": -0.029771903529763222
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4057,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.218892097473145,
                "transform": {
                    "location": {
                        "x": -1034.8292236328125,
                        "y": 3077.955322265625,
                        "z": 356.5047607421875
                    },
                    "rotation": {
                        "roll": 0.0046908059157431126,
                        "pitch": -0.4161975681781769,
                        "yaw": 179.02415466308594
                    }
                },
                "velocity": {
                    "x": -8.217435836791992,
                    "y": 0.14038532972335815,
                    "z": -0.06504544615745544
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.774134635925293,
                "transform": {
                    "location": {
                        "x": -1052.1038818359375,
                        "y": 3074.910888671875,
                        "z": 356.2965087890625
                    },
                    "rotation": {
                        "roll": -0.002258300082758069,
                        "pitch": -0.7890575528144836,
                        "yaw": 178.73277282714844
                    }
                },
                "velocity": {
                    "x": -10.770001411437988,
                    "y": 0.2379399687051773,
                    "z": -0.1801072210073471
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4055,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.866342544555664,
                "transform": {
                    "location": {
                        "x": -1141.0947265625,
                        "y": 3094.421875,
                        "z": 353.650390625
                    },
                    "rotation": {
                        "roll": -3.0517410777974874e-05,
                        "pitch": 2.0754005908966064,
                        "yaw": -0.7669677138328552
                    }
                },
                "velocity": {
                    "x": 7.860503196716309,
                    "y": -0.09775622934103012,
                    "z": 0.2868424355983734
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4054,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.9348578453063965,
                "transform": {
                    "location": {
                        "x": -1140.9761962890625,
                        "y": 3097.9189453125,
                        "z": 353.65582275390625
                    },
                    "rotation": {
                        "roll": 0.02538520283997059,
                        "pitch": 2.0987939834594727,
                        "yaw": -0.816375732421875
                    }
                },
                "velocity": {
                    "x": 7.928951263427734,
                    "y": -0.08270631730556488,
                    "z": 0.2947255074977875
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4053,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.132471084594727,
                "transform": {
                    "location": {
                        "x": -1140.8123779296875,
                        "y": 3101.407958984375,
                        "z": 353.65423583984375
                    },
                    "rotation": {
                        "roll": -0.0568847618997097,
                        "pitch": 2.0351366996765137,
                        "yaw": -0.9076537489891052
                    }
                },
                "velocity": {
                    "x": 8.126838684082031,
                    "y": -0.09746561199426651,
                    "z": 0.2864944338798523
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.9986677169799805,
                "transform": {
                    "location": {
                        "x": -1140.7120361328125,
                        "y": 3104.900146484375,
                        "z": 353.6544494628906
                    },
                    "rotation": {
                        "roll": 0.003570353612303734,
                        "pitch": 2.082688570022583,
                        "yaw": -1.09051513671875
                    }
                },
                "velocity": {
                    "x": 7.993241786956787,
                    "y": -0.11420636624097824,
                    "z": 0.2715313732624054
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.060516357421875,
                "transform": {
                    "location": {
                        "x": -1060.9888916015625,
                        "y": 3078.509521484375,
                        "z": 356.1379699707031
                    },
                    "rotation": {
                        "roll": -0.0011291501577943563,
                        "pitch": -1.0820248126983643,
                        "yaw": 178.73939514160156
                    }
                },
                "velocity": {
                    "x": -8.057110786437988,
                    "y": 0.17919179797172546,
                    "z": -0.15090671181678772
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.031373023986816,
                "transform": {
                    "location": {
                        "x": -1060.4407958984375,
                        "y": 3081.998779296875,
                        "z": 356.13690185546875
                    },
                    "rotation": {
                        "roll": 0.00017169072816614062,
                        "pitch": -1.080686092376709,
                        "yaw": 178.71925354003906
                    }
                },
                "velocity": {
                    "x": -8.027945518493652,
                    "y": 0.17941781878471375,
                    "z": -0.1511930227279663
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.8732328414917,
                "transform": {
                    "location": {
                        "x": -1118.767822265625,
                        "y": 3076.39892578125,
                        "z": 354.4687805175781
                    },
                    "rotation": {
                        "roll": -0.0003967293887399137,
                        "pitch": -2.0941154956817627,
                        "yaw": 178.72427368164062
                    }
                },
                "velocity": {
                    "x": -15.858731269836426,
                    "y": 0.35334768891334534,
                    "z": -0.5790694952011108
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4035,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1327.0501708984375,
                        "y": 3081.776123046875,
                        "z": 345.7784729003906
                    },
                    "rotation": {
                        "roll": 3.335353992994783e-09,
                        "pitch": -0.769775927066803,
                        "yaw": 176.5779571533203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4034,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1280.7894287109375,
                        "y": 3080.018798828125,
                        "z": 347.1551818847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.1635990142822266,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1239.4664306640625,
                        "y": 3079.095458984375,
                        "z": 349.04876708984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.8573548793792725,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4032,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1215.4891357421875,
                        "y": 3078.5595703125,
                        "z": 350.29443359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.0971081256866455,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.449718475341797,
                "transform": {
                    "location": {
                        "x": -1144.004638671875,
                        "y": 3076.963134765625,
                        "z": 353.55517578125
                    },
                    "rotation": {
                        "roll": -0.0008544918382540345,
                        "pitch": -2.119994878768921,
                        "yaw": 178.71934509277344
                    }
                },
                "velocity": {
                    "x": -16.434717178344727,
                    "y": 0.3647269308567047,
                    "z": -0.6002693176269531
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.810671329498291,
                "transform": {
                    "location": {
                        "x": -1030.9266357421875,
                        "y": 3052.458740234375,
                        "z": 358.1687927246094
                    },
                    "rotation": {
                        "roll": 0.03265061601996422,
                        "pitch": -3.438228130340576,
                        "yaw": 166.70518493652344
                    }
                },
                "velocity": {
                    "x": -7.586732387542725,
                    "y": 1.8001824617385864,
                    "z": -0.4554295241832733
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.064995765686035,
                "transform": {
                    "location": {
                        "x": -1048.166259765625,
                        "y": 3056.8759765625,
                        "z": 357.2048034667969
                    },
                    "rotation": {
                        "roll": 0.02651144005358219,
                        "pitch": -2.9031307697296143,
                        "yaw": 164.67071533203125
                    }
                },
                "velocity": {
                    "x": -7.763466835021973,
                    "y": 2.1463704109191895,
                    "z": -0.4072299003601074
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1002039909362793,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            34.161421052911315,
            4.148902442433602
        ],
        "target_point_next": [
            46.688576111257035,
            6.98741129656029
        ]
    },
    "255": {
        "acceleration": [
            -0.3382110595703125,
            -1.4590692520141602,
            0.296514630317688
        ],
        "angular_velocity": [
            -0.5964499711990356,
            0.3027782142162323,
            6.68956184387207
        ],
        "forward_vector": [
            -0.9734870195388794,
            0.22717198729515076,
            -0.02675619162619114
        ],
        "right_vector": [
            -0.22732828557491302,
            -0.9738138318061829,
            0.0029119180981069803
        ],
        "location": [
            -1088.2847900390625,
            3068.9619140625,
            355.5021057128906
        ],
        "rotation": [
            -0.1669006049633026,
            -1.5331997871398926,
            166.8645782470703
        ],
        "velocity": [
            -13.159554481506348,
            3.0219902992248535,
            -0.3724828362464905
        ],
        "speed": 13.502085006410784,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 58.430564880371094,
        "front_vehicle_info": {
            "id": 4054,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                -1139.0166015625,
                3097.8974609375,
                353.7278137207031
            ],
            "velocity": [
                7.753596782684326,
                -0.10047856718301773,
                0.28398674726486206
            ],
            "speed_kmh": 27.934006819406555,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4066,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1170.46826171875,
                        "y": 3095.05859375,
                        "z": 352.7188720703125
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1170.396484375,
                        "y": 3098.557373046875,
                        "z": 352.7197265625
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1170.304931640625,
                        "y": 3102.056396484375,
                        "z": 352.7179260253906
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4063,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1170.6048583984375,
                        "y": 3105.56396484375,
                        "z": 352.7689514160156
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4062,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1154.9227294921875,
                        "y": 3094.711181640625,
                        "z": 353.14715576171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4061,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1154.813232421875,
                        "y": 3098.209228515625,
                        "z": 353.1483154296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4060,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1154.6204833984375,
                        "y": 3101.705810546875,
                        "z": 353.1524963378906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4059,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1154.5250244140625,
                        "y": 3105.20458984375,
                        "z": 353.1531677246094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4058,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.240434169769287,
                "transform": {
                    "location": {
                        "x": -1031.37890625,
                        "y": 3081.40087890625,
                        "z": 356.5224609375
                    },
                    "rotation": {
                        "roll": -0.003662109375,
                        "pitch": -0.3391393721103668,
                        "yaw": 179.2565460205078
                    }
                },
                "velocity": {
                    "x": -5.23993444442749,
                    "y": 0.06422747671604156,
                    "z": -0.033345066010951996
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4057,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.90714168548584,
                "transform": {
                    "location": {
                        "x": -1036.830078125,
                        "y": 3077.990234375,
                        "z": 356.4872131347656
                    },
                    "rotation": {
                        "roll": -0.0010070796124637127,
                        "pitch": -0.5961866974830627,
                        "yaw": 179.00790405273438
                    }
                },
                "velocity": {
                    "x": -7.905513763427734,
                    "y": 0.13928866386413574,
                    "z": -0.07962973415851593
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.740134239196777,
                "transform": {
                    "location": {
                        "x": -1054.8714599609375,
                        "y": 3074.972412109375,
                        "z": 356.2490234375
                    },
                    "rotation": {
                        "roll": -0.0008544924785383046,
                        "pitch": -0.7929985523223877,
                        "yaw": 178.72862243652344
                    }
                },
                "velocity": {
                    "x": -11.735527038574219,
                    "y": 0.26050662994384766,
                    "z": -0.20071956515312195
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4055,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.961842060089111,
                "transform": {
                    "location": {
                        "x": -1139.1171875,
                        "y": 3094.399658203125,
                        "z": 353.7223815917969
                    },
                    "rotation": {
                        "roll": 0.014417639933526516,
                        "pitch": 2.087278366088867,
                        "yaw": -0.621856689453125
                    }
                },
                "velocity": {
                    "x": 7.95612907409668,
                    "y": -0.08332225680351257,
                    "z": 0.28981927037239075
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4054,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.759446620941162,
                "transform": {
                    "location": {
                        "x": -1139.0166015625,
                        "y": 3097.8974609375,
                        "z": 353.7278137207031
                    },
                    "rotation": {
                        "roll": 0.020032623782753944,
                        "pitch": 2.091055393218994,
                        "yaw": -0.6600646376609802
                    }
                },
                "velocity": {
                    "x": 7.753596782684326,
                    "y": -0.10047856718301773,
                    "z": 0.28398674726486206
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4053,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.83452844619751,
                "transform": {
                    "location": {
                        "x": -1138.819091796875,
                        "y": 3101.385986328125,
                        "z": 353.72509765625
                    },
                    "rotation": {
                        "roll": -0.01242065243422985,
                        "pitch": 2.061077833175659,
                        "yaw": -0.6047973036766052
                    }
                },
                "velocity": {
                    "x": 7.829010009765625,
                    "y": -0.08816146850585938,
                    "z": 0.2804832458496094
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.928327560424805,
                "transform": {
                    "location": {
                        "x": -1138.722900390625,
                        "y": 3104.87451171875,
                        "z": 353.7242126464844
                    },
                    "rotation": {
                        "roll": 0.020553339272737503,
                        "pitch": 2.087899923324585,
                        "yaw": -0.642974853515625
                    }
                },
                "velocity": {
                    "x": 7.922781944274902,
                    "y": -0.08154727518558502,
                    "z": 0.2850535809993744
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.060765266418457,
                "transform": {
                    "location": {
                        "x": -1063.0029296875,
                        "y": 3078.5546875,
                        "z": 356.09967041015625
                    },
                    "rotation": {
                        "roll": 0.0008343113004229963,
                        "pitch": -1.1024402379989624,
                        "yaw": 178.70799255371094
                    }
                },
                "velocity": {
                    "x": -8.05727481842041,
                    "y": 0.1803748905658722,
                    "z": -0.1540304273366928
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.084102630615234,
                "transform": {
                    "location": {
                        "x": -1062.4544677734375,
                        "y": 3082.043701171875,
                        "z": 356.09881591796875
                    },
                    "rotation": {
                        "roll": 1.4724415450473316e-05,
                        "pitch": -1.0887457132339478,
                        "yaw": 178.7191619873047
                    }
                },
                "velocity": {
                    "x": -8.080582618713379,
                    "y": 0.18065278232097626,
                    "z": -0.15577898919582367
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.873197555541992,
                "transform": {
                    "location": {
                        "x": -1122.732421875,
                        "y": 3076.48779296875,
                        "z": 354.32415771484375
                    },
                    "rotation": {
                        "roll": -0.00012206765677547082,
                        "pitch": -2.0927698612213135,
                        "yaw": 178.71804809570312
                    }
                },
                "velocity": {
                    "x": -15.858649253845215,
                    "y": 0.3546746075153351,
                    "z": -0.579534113407135
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4035,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1331.2921142578125,
                        "y": 3082.025146484375,
                        "z": 345.71783447265625
                    },
                    "rotation": {
                        "roll": 1.6676037217777662e-09,
                        "pitch": -0.551086962223053,
                        "yaw": 176.33619689941406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4034,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1285.031005859375,
                        "y": 3080.113037109375,
                        "z": 346.9915466308594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.1635990142822266,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1243.705810546875,
                        "y": 3079.190185546875,
                        "z": 348.8387451171875
                    },
                    "rotation": {
                        "roll": -3.3390665787891294e-09,
                        "pitch": -2.809420585632324,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4032,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1219.7274169921875,
                        "y": 3078.654541015625,
                        "z": 350.0672912597656
                    },
                    "rotation": {
                        "roll": -3.339781340372383e-09,
                        "pitch": -3.049187421798706,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.449695587158203,
                "transform": {
                    "location": {
                        "x": -1148.11328125,
                        "y": 3077.0546875,
                        "z": 353.40533447265625
                    },
                    "rotation": {
                        "roll": 0.0027431261260062456,
                        "pitch": -2.119018316268921,
                        "yaw": 178.71566772460938
                    }
                },
                "velocity": {
                    "x": -16.434656143188477,
                    "y": 0.3679434061050415,
                    "z": -0.5993189215660095
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.6337127685546875,
                "transform": {
                    "location": {
                        "x": -1032.7811279296875,
                        "y": 3052.90185546875,
                        "z": 358.0583190917969
                    },
                    "rotation": {
                        "roll": 0.05526858568191528,
                        "pitch": -3.445276975631714,
                        "yaw": 166.52011108398438
                    }
                },
                "velocity": {
                    "x": -7.404536724090576,
                    "y": 1.8040207624435425,
                    "z": -0.4380780756473541
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.065549850463867,
                "transform": {
                    "location": {
                        "x": -1050.1068115234375,
                        "y": 3057.4150390625,
                        "z": 357.10467529296875
                    },
                    "rotation": {
                        "roll": 0.013869431801140308,
                        "pitch": -2.842219114303589,
                        "yaw": 164.45469665527344
                    }
                },
                "velocity": {
                    "x": -7.7590484619140625,
                    "y": 2.166024684906006,
                    "z": -0.3982601761817932
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.09530596435070038,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            30.881458505718005,
            3.2917661351154957
        ],
        "target_point_next": [
            43.478607194539855,
            5.8014655757868905
        ]
    },
    "260": {
        "acceleration": [
            -0.6390190124511719,
            -1.5170478820800781,
            -0.20330309867858887
        ],
        "angular_velocity": [
            0.6238743662834167,
            -0.20168259739875793,
            7.143080711364746
        ],
        "forward_vector": [
            -0.979806661605835,
            0.19755840301513672,
            -0.03081429749727249
        ],
        "right_vector": [
            -0.19768044352531433,
            -0.9802660346031189,
            0.0009353902423754334
        ],
        "location": [
            -1091.587646484375,
            3069.674560546875,
            355.4055480957031
        ],
        "rotation": [
            -0.053619384765625,
            -1.7658087015151978,
            168.6002960205078
        ],
        "velocity": [
            -13.294522285461426,
            2.637449026107788,
            -0.39624541997909546
        ],
        "speed": 13.553614284165954,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 53.548397064208984,
        "front_vehicle_info": {
            "id": 4054,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                -1137.0828857421875,
                3097.870849609375,
                353.79833984375
            ],
            "velocity": [
                7.717756271362305,
                -0.11283603310585022,
                0.2808957099914551
            ],
            "speed_kmh": 27.805286101710312,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4066,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1168.5306396484375,
                        "y": 3095.014892578125,
                        "z": 352.6550598144531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1168.4735107421875,
                        "y": 3098.5146484375,
                        "z": 352.6562805175781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1168.3306884765625,
                        "y": 3102.012451171875,
                        "z": 352.6546325683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4063,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1168.645751953125,
                        "y": 3105.520263671875,
                        "z": 352.63995361328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4062,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.582381725311279,
                "transform": {
                    "location": {
                        "x": -1152.9830322265625,
                        "y": 3094.673095703125,
                        "z": 353.21746826171875
                    },
                    "rotation": {
                        "roll": -0.010009768418967724,
                        "pitch": 2.0588784217834473,
                        "yaw": -1.0594482421875
                    }
                },
                "velocity": {
                    "x": 7.576556205749512,
                    "y": -0.12117801606655121,
                    "z": 0.2713340222835541
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4061,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.5348687171936035,
                "transform": {
                    "location": {
                        "x": -1152.8980712890625,
                        "y": 3098.169921875,
                        "z": 353.2153015136719
                    },
                    "rotation": {
                        "roll": -0.008392333053052425,
                        "pitch": 2.072422742843628,
                        "yaw": -1.1497801542282104
                    }
                },
                "velocity": {
                    "x": 7.530462265014648,
                    "y": -0.10546191036701202,
                    "z": 0.23507840931415558
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4060,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.273496627807617,
                "transform": {
                    "location": {
                        "x": -1152.6995849609375,
                        "y": 3101.663330078125,
                        "z": 353.22686767578125
                    },
                    "rotation": {
                        "roll": -0.006652830168604851,
                        "pitch": 1.99275541305542,
                        "yaw": -1.2518004179000854
                    }
                },
                "velocity": {
                    "x": 6.263815879821777,
                    "y": -0.11077331006526947,
                    "z": 0.3303024172782898
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4059,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1152.5594482421875,
                        "y": 3105.16015625,
                        "z": 353.2248229980469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4058,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.081686019897461,
                "transform": {
                    "location": {
                        "x": -1032.777587890625,
                        "y": 3081.420166015625,
                        "z": 356.5135498046875
                    },
                    "rotation": {
                        "roll": -0.0012207026593387127,
                        "pitch": -0.3359701633453369,
                        "yaw": 179.175537109375
                    }
                },
                "velocity": {
                    "x": -6.080780029296875,
                    "y": 0.09786750376224518,
                    "z": -0.03793743625283241
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4057,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.114052772521973,
                "transform": {
                    "location": {
                        "x": -1038.831787109375,
                        "y": 3078.028564453125,
                        "z": 356.4670104980469
                    },
                    "rotation": {
                        "roll": 0.003996115177869797,
                        "pitch": -0.548552930355072,
                        "yaw": 178.8765869140625
                    }
                },
                "velocity": {
                    "x": -8.112062454223633,
                    "y": 0.16073428094387054,
                    "z": -0.08032003045082092
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.851752281188965,
                "transform": {
                    "location": {
                        "x": -1057.956298828125,
                        "y": 3075.040771484375,
                        "z": 356.19549560546875
                    },
                    "rotation": {
                        "roll": -0.0010375971905887127,
                        "pitch": -0.8426745533943176,
                        "yaw": 178.7352294921875
                    }
                },
                "velocity": {
                    "x": -12.8465576171875,
                    "y": 0.28417572379112244,
                    "z": -0.2296876162290573
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4055,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.657482147216797,
                "transform": {
                    "location": {
                        "x": -1137.1676025390625,
                        "y": 3094.374267578125,
                        "z": 353.7934265136719
                    },
                    "rotation": {
                        "roll": 0.023595286533236504,
                        "pitch": 2.0826611518859863,
                        "yaw": -0.7593384385108948
                    }
                },
                "velocity": {
                    "x": 7.651648998260498,
                    "y": -0.10607726126909256,
                    "z": 0.27936941385269165
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4054,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.723690986633301,
                "transform": {
                    "location": {
                        "x": -1137.0828857421875,
                        "y": 3097.870849609375,
                        "z": 353.79833984375
                    },
                    "rotation": {
                        "roll": 0.014282779768109322,
                        "pitch": 2.0885419845581055,
                        "yaw": -0.7720640897750854
                    }
                },
                "velocity": {
                    "x": 7.717756271362305,
                    "y": -0.11283603310585022,
                    "z": 0.2808957099914551
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4053,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.9294843673706055,
                "transform": {
                    "location": {
                        "x": -1136.8494873046875,
                        "y": 3101.361572265625,
                        "z": 353.7962951660156
                    },
                    "rotation": {
                        "roll": 0.02269233763217926,
                        "pitch": 2.080489158630371,
                        "yaw": -0.7074279189109802
                    }
                },
                "velocity": {
                    "x": 7.92360782623291,
                    "y": -0.10313873738050461,
                    "z": 0.2872655987739563
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.783751010894775,
                "transform": {
                    "location": {
                        "x": -1136.760986328125,
                        "y": 3104.852783203125,
                        "z": 353.7955017089844
                    },
                    "rotation": {
                        "roll": 0.024656765162944794,
                        "pitch": 2.0876402854919434,
                        "yaw": -0.606597900390625
                    }
                },
                "velocity": {
                    "x": 7.778076648712158,
                    "y": -0.08949137479066849,
                    "z": 0.28336599469184875
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4051,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.059962272644043,
                "transform": {
                    "location": {
                        "x": -1065.01708984375,
                        "y": 3078.599365234375,
                        "z": 356.06097412109375
                    },
                    "rotation": {
                        "roll": -0.0012817381648346782,
                        "pitch": -1.1218243837356567,
                        "yaw": 178.7440948486328
                    }
                },
                "velocity": {
                    "x": -8.056464195251465,
                    "y": 0.17901794612407684,
                    "z": -0.15597999095916748
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.032204627990723,
                "transform": {
                    "location": {
                        "x": -1064.4677734375,
                        "y": 3082.088623046875,
                        "z": 356.0602111816406
                    },
                    "rotation": {
                        "roll": -0.00027465898892842233,
                        "pitch": -1.1188942193984985,
                        "yaw": 178.71922302246094
                    }
                },
                "velocity": {
                    "x": -8.028692245483398,
                    "y": 0.17960225045681,
                    "z": -0.15538793802261353
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.873191833496094,
                "transform": {
                    "location": {
                        "x": -1126.697021484375,
                        "y": 3076.576171875,
                        "z": 354.1795959472656
                    },
                    "rotation": {
                        "roll": 0.0005154677201062441,
                        "pitch": -2.0926811695098877,
                        "yaw": 178.71766662597656
                    }
                },
                "velocity": {
                    "x": -15.858649253845215,
                    "y": 0.35492822527885437,
                    "z": -0.5792239904403687
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4034,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1289.276123046875,
                        "y": 3080.21533203125,
                        "z": 346.8360900878906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.058741807937622,
                        "yaw": 178.51222229003906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1247.9476318359375,
                        "y": 3079.284912109375,
                        "z": 348.6311950683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.783540964126587,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4032,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1223.967529296875,
                        "y": 3078.749267578125,
                        "z": 349.8431701660156
                    },
                    "rotation": {
                        "roll": 3.339633902754713e-09,
                        "pitch": -3.001253366470337,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.4497013092041,
                "transform": {
                    "location": {
                        "x": -1152.2218017578125,
                        "y": 3077.146484375,
                        "z": 353.2555847167969
                    },
                    "rotation": {
                        "roll": 0.0011451182654127479,
                        "pitch": -2.1192572116851807,
                        "yaw": 178.71389770507812
                    }
                },
                "velocity": {
                    "x": -16.434675216674805,
                    "y": 0.36647799611091614,
                    "z": -0.5998247861862183
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.935818672180176,
                "transform": {
                    "location": {
                        "x": -1034.6795654296875,
                        "y": 3053.36669921875,
                        "z": 357.94561767578125
                    },
                    "rotation": {
                        "roll": 0.04675202816724777,
                        "pitch": -3.2595162391662598,
                        "yaw": 166.22010803222656
                    }
                },
                "velocity": {
                    "x": -7.6921234130859375,
                    "y": 1.898949384689331,
                    "z": -0.4499351382255554
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.065064430236816,
                "transform": {
                    "location": {
                        "x": -1052.0467529296875,
                        "y": 3057.958740234375,
                        "z": 357.00634765625
                    },
                    "rotation": {
                        "roll": 0.020213846117258072,
                        "pitch": -2.790555477142334,
                        "yaw": 164.32876586914062
                    }
                },
                "velocity": {
                    "x": -7.749726295471191,
                    "y": 2.199122905731201,
                    "z": -0.38840362429618835
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.08469300717115402,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            27.588440087452213,
            2.400650395125764
        ],
        "target_point_next": [
            40.255825932152476,
            4.52763940127506
        ]
    },
    "265": {
        "acceleration": [
            -0.0093841552734375,
            -1.623692512512207,
            -0.029325485229492188
        ],
        "angular_velocity": [
            -0.4896588623523712,
            -0.17379960417747498,
            6.989079475402832
        ],
        "forward_vector": [
            -0.9854520559310913,
            0.16733203828334808,
            -0.029736662283539772
        ],
        "right_vector": [
            -0.16744652390480042,
            -0.9858801364898682,
            0.0013847631635144353
        ],
        "location": [
            -1094.92578125,
            3070.288330078125,
            355.3037109375
        ],
        "rotation": [
            -0.0793762132525444,
            -1.7040364742279053,
            170.3629608154297
        ],
        "velocity": [
            -13.385397911071777,
            2.2354841232299805,
            -0.40515315532684326
        ],
        "speed": 13.570787246985269,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 48.96822738647461,
        "front_vehicle_info": {
            "id": 4054,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                -1135.3778076171875,
                3097.84619140625,
                353.85968017578125
            ],
            "velocity": [
                6.270723819732666,
                -0.09299630671739578,
                0.22745393216609955
            ],
            "speed_kmh": 22.591932106988516,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4066,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1166.6529541015625,
                        "y": 3094.97314453125,
                        "z": 352.7170715332031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1166.622314453125,
                        "y": 3098.47314453125,
                        "z": 352.716552734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1166.9012451171875,
                        "y": 3101.98046875,
                        "z": 352.7024841308594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4063,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1166.727783203125,
                        "y": 3105.4775390625,
                        "z": 352.7048034667969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4062,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.163058280944824,
                "transform": {
                    "location": {
                        "x": -1151.1171875,
                        "y": 3094.6474609375,
                        "z": 353.28485107421875
                    },
                    "rotation": {
                        "roll": 0.005109527613967657,
                        "pitch": 2.015868663787842,
                        "yaw": -0.7607116103172302
                    }
                },
                "velocity": {
                    "x": 7.157797813415527,
                    "y": -0.08870135247707367,
                    "z": 0.2597445845603943
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4061,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.2058515548706055,
                "transform": {
                    "location": {
                        "x": -1151.05615234375,
                        "y": 3098.145263671875,
                        "z": 353.2760009765625
                    },
                    "rotation": {
                        "roll": 0.01155772339552641,
                        "pitch": 2.072812080383301,
                        "yaw": -0.7617186307907104
                    }
                },
                "velocity": {
                    "x": 7.2010650634765625,
                    "y": -0.07749824970960617,
                    "z": 0.25089749693870544
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4060,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.299483776092529,
                "transform": {
                    "location": {
                        "x": -1151.3800048828125,
                        "y": 3101.64404296875,
                        "z": 353.29833984375
                    },
                    "rotation": {
                        "roll": 0.0034252675250172615,
                        "pitch": 1.9706392288208008,
                        "yaw": -0.9416199922561646
                    }
                },
                "velocity": {
                    "x": 5.293570518493652,
                    "y": -0.0551992803812027,
                    "z": 0.24412301182746887
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4059,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.704296112060547,
                "transform": {
                    "location": {
                        "x": -1150.646728515625,
                        "y": 3105.12548828125,
                        "z": 353.2972717285156
                    },
                    "rotation": {
                        "roll": -0.035003662109375,
                        "pitch": 2.0524444580078125,
                        "yaw": -1.0048216581344604
                    }
                },
                "velocity": {
                    "x": 7.698033332824707,
                    "y": -0.09662612527608871,
                    "z": 0.295166939496994
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4058,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.195823669433594,
                "transform": {
                    "location": {
                        "x": -1034.452392578125,
                        "y": 3081.447509765625,
                        "z": 356.50048828125
                    },
                    "rotation": {
                        "roll": -0.0014343265211209655,
                        "pitch": -0.4304453134536743,
                        "yaw": 179.0897979736328
                    }
                },
                "velocity": {
                    "x": -7.194480895996094,
                    "y": 0.12394320219755173,
                    "z": -0.06295058876276016
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4057,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.063214302062988,
                "transform": {
                    "location": {
                        "x": -1040.8590087890625,
                        "y": 3078.0693359375,
                        "z": 356.4470520019531
                    },
                    "rotation": {
                        "roll": 0.0018952719401568174,
                        "pitch": -0.5689069032669067,
                        "yaw": 178.86093139648438
                    }
                },
                "velocity": {
                    "x": -8.061147689819336,
                    "y": 0.16273526847362518,
                    "z": -0.08272777497768402
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.810111999511719,
                "transform": {
                    "location": {
                        "x": -1061.2928466796875,
                        "y": 3075.114990234375,
                        "z": 356.13427734375
                    },
                    "rotation": {
                        "roll": 0.00011741744674509391,
                        "pitch": -0.9232434630393982,
                        "yaw": 178.72532653808594
                    }
                },
                "velocity": {
                    "x": -13.804205894470215,
                    "y": 0.3082382082939148,
                    "z": -0.26091107726097107
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4055,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.197830677032471,
                "transform": {
                    "location": {
                        "x": -1135.5018310546875,
                        "y": 3094.349853515625,
                        "z": 353.85394287109375
                    },
                    "rotation": {
                        "roll": 0.019779890775680542,
                        "pitch": 1.9364336729049683,
                        "yaw": -0.8322144746780396
                    }
                },
                "velocity": {
                    "x": 6.193028450012207,
                    "y": -0.09220165759325027,
                    "z": 0.22583508491516113
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4054,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.27553653717041,
                "transform": {
                    "location": {
                        "x": -1135.3778076171875,
                        "y": 3097.84619140625,
                        "z": 353.85968017578125
                    },
                    "rotation": {
                        "roll": 0.01642569899559021,
                        "pitch": 2.1870059967041016,
                        "yaw": -0.8236389756202698
                    }
                },
                "velocity": {
                    "x": 6.270723819732666,
                    "y": -0.09299630671739578,
                    "z": 0.22745393216609955
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4053,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.385158538818359,
                "transform": {
                    "location": {
                        "x": -1134.9954833984375,
                        "y": 3101.337158203125,
                        "z": 353.86480712890625
                    },
                    "rotation": {
                        "roll": 0.024739330634474754,
                        "pitch": 1.7621135711669922,
                        "yaw": -0.765472412109375
                    }
                },
                "velocity": {
                    "x": 6.380311012268066,
                    "y": -0.08609898388385773,
                    "z": 0.23338192701339722
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.558328151702881,
                "transform": {
                    "location": {
                        "x": -1134.832763671875,
                        "y": 3104.830322265625,
                        "z": 353.8658142089844
                    },
                    "rotation": {
                        "roll": 0.022786496207118034,
                        "pitch": 2.083439826965332,
                        "yaw": -0.6700744032859802
                    }
                },
                "velocity": {
                    "x": 7.552755355834961,
                    "y": -0.09150058776140213,
                    "z": 0.27538439631462097
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4050,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.087093353271484,
                "transform": {
                    "location": {
                        "x": -1066.4815673828125,
                        "y": 3082.1337890625,
                        "z": 356.0201110839844
                    },
                    "rotation": {
                        "roll": -0.0003356939705554396,
                        "pitch": -1.1565558910369873,
                        "yaw": 178.7190399169922
                    }
                },
                "velocity": {
                    "x": -8.083334922790527,
                    "y": 0.18077191710472107,
                    "z": -0.1676165759563446
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.87320327758789,
                "transform": {
                    "location": {
                        "x": -1130.66162109375,
                        "y": 3076.6650390625,
                        "z": 354.0350036621094
                    },
                    "rotation": {
                        "roll": 0.0003429222560953349,
                        "pitch": -2.0933778285980225,
                        "yaw": 178.71763610839844
                    }
                },
                "velocity": {
                    "x": -15.85866928100586,
                    "y": 0.35499629378318787,
                    "z": -0.5789312720298767
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4034,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1293.521728515625,
                        "y": 3080.331787109375,
                        "z": 346.6877136230469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9539121389389038,
                        "yaw": 178.27044677734375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1252.1907958984375,
                        "y": 3079.3798828125,
                        "z": 348.42486572265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.783540964126587,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4032,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1228.210205078125,
                        "y": 3078.84423828125,
                        "z": 349.621826171875
                    },
                    "rotation": {
                        "roll": -3.339488463538487e-09,
                        "pitch": -2.9532439708709717,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.449695587158203,
                "transform": {
                    "location": {
                        "x": -1156.33056640625,
                        "y": 3077.238037109375,
                        "z": 353.10577392578125
                    },
                    "rotation": {
                        "roll": -0.0010070843854919076,
                        "pitch": -2.1191070079803467,
                        "yaw": 178.72335815429688
                    }
                },
                "velocity": {
                    "x": -16.434669494628906,
                    "y": 0.3665759563446045,
                    "z": -0.5998082756996155
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.731189250946045,
                "transform": {
                    "location": {
                        "x": -1036.5797119140625,
                        "y": 3053.83642578125,
                        "z": 357.8356628417969
                    },
                    "rotation": {
                        "roll": 0.016821766272187233,
                        "pitch": -3.2864956855773926,
                        "yaw": 166.1065216064453
                    }
                },
                "velocity": {
                    "x": -7.492208003997803,
                    "y": 1.857618808746338,
                    "z": -0.43284904956817627
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.060983657836914,
                "transform": {
                    "location": {
                        "x": -1053.982666015625,
                        "y": 3058.513916015625,
                        "z": 356.90966796875
                    },
                    "rotation": {
                        "roll": 0.02702362835407257,
                        "pitch": -2.733455181121826,
                        "yaw": 163.98309326171875
                    }
                },
                "velocity": {
                    "x": -7.735991477966309,
                    "y": 2.2338294982910156,
                    "z": -0.37933555245399475
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.06437409669160843,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            24.25545222516769,
            1.5972000868161933
        ],
        "target_point_next": [
            36.9822687330703,
            3.333543355000823
        ]
    },
    "270": {
        "acceleration": [
            0.039806365966796875,
            -1.6214227676391602,
            -0.1540219783782959
        ],
        "angular_velocity": [
            0.0446489043533802,
            -0.46664971113204956,
            6.814525127410889
        ],
        "forward_vector": [
            -0.9899875521659851,
            0.13726283609867096,
            -0.032917626202106476
        ],
        "right_vector": [
            -0.13742969930171967,
            -0.9905074834823608,
            0.002850163960829377
        ],
        "location": [
            -1098.2669677734375,
            3070.798583984375,
            355.1998291015625
        ],
        "rotation": [
            -0.1633911430835724,
            -1.886381983757019,
            172.106201171875
        ],
        "velocity": [
            -13.363508224487305,
            1.8207606077194214,
            -0.4280570149421692
        ],
        "speed": 13.486975986356713,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 44.659149169921875,
        "front_vehicle_info": {
            "id": 4054,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                -1133.799072265625,
                3097.822021484375,
                353.91802978515625
            ],
            "velocity": [
                6.551403522491455,
                -0.12333779782056808,
                0.23879525065422058
            ],
            "speed_kmh": 23.604891030083387,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4067,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1026.8795166015625,
                        "y": 3077.847412109375,
                        "z": 356.5749816894531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.25598180294036865,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4066,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1164.9593505859375,
                        "y": 3094.935302734375,
                        "z": 352.77294921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1164.8260498046875,
                        "y": 3098.433349609375,
                        "z": 352.7749938964844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1165.71875,
                        "y": 3101.95361328125,
                        "z": 352.7420959472656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4063,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1164.8485107421875,
                        "y": 3105.435302734375,
                        "z": 352.7684020996094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4062,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.476449489593506,
                "transform": {
                    "location": {
                        "x": -1149.444580078125,
                        "y": 3094.62841796875,
                        "z": 353.34564208984375
                    },
                    "rotation": {
                        "roll": 0.01572069153189659,
                        "pitch": 2.0237302780151367,
                        "yaw": -0.6520386338233948
                    }
                },
                "velocity": {
                    "x": 6.471782207489014,
                    "y": -0.06999863684177399,
                    "z": 0.23565877974033356
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4061,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.1692609786987305,
                "transform": {
                    "location": {
                        "x": -1149.2606201171875,
                        "y": 3098.12548828125,
                        "z": 353.3399963378906
                    },
                    "rotation": {
                        "roll": 0.022341925650835037,
                        "pitch": 2.083651542663574,
                        "yaw": -0.6181336045265198
                    }
                },
                "velocity": {
                    "x": 7.164248466491699,
                    "y": -0.07161398977041245,
                    "z": 0.25830286741256714
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4060,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.965760707855225,
                "transform": {
                    "location": {
                        "x": -1150.0966796875,
                        "y": 3101.62939453125,
                        "z": 353.350341796875
                    },
                    "rotation": {
                        "roll": 0.016509557142853737,
                        "pitch": 2.061528444290161,
                        "yaw": -0.7249755263328552
                    }
                },
                "velocity": {
                    "x": 4.9618377685546875,
                    "y": -0.04700102657079697,
                    "z": 0.19167070090770721
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4059,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.297040939331055,
                "transform": {
                    "location": {
                        "x": -1148.7791748046875,
                        "y": 3105.1025390625,
                        "z": 353.36737060546875
                    },
                    "rotation": {
                        "roll": 0.005150946322828531,
                        "pitch": 2.0641582012176514,
                        "yaw": -0.6351929306983948
                    }
                },
                "velocity": {
                    "x": 7.291623592376709,
                    "y": -0.08267538994550705,
                    "z": 0.2686898112297058
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4058,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.237363815307617,
                "transform": {
                    "location": {
                        "x": -1036.35546875,
                        "y": 3081.47998046875,
                        "z": 356.4847717285156
                    },
                    "rotation": {
                        "roll": -0.002166747348383069,
                        "pitch": -0.5540444254875183,
                        "yaw": 178.9913330078125
                    }
                },
                "velocity": {
                    "x": -8.235673904418945,
                    "y": 0.14716334640979767,
                    "z": -0.07854237407445908
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4057,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.028270721435547,
                "transform": {
                    "location": {
                        "x": -1042.8643798828125,
                        "y": 3078.11083984375,
                        "z": 356.42401123046875
                    },
                    "rotation": {
                        "roll": 0.0035272492095828056,
                        "pitch": -0.7214045524597168,
                        "yaw": 178.79129028320312
                    }
                },
                "velocity": {
                    "x": -8.025959968566895,
                    "y": 0.16984595358371735,
                    "z": -0.09079708158969879
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 14.740947723388672,
                "transform": {
                    "location": {
                        "x": -1064.86474609375,
                        "y": 3075.19482421875,
                        "z": 356.0658874511719
                    },
                    "rotation": {
                        "roll": 0.0009108253289014101,
                        "pitch": -0.9704810380935669,
                        "yaw": 178.7205047607422
                    }
                },
                "velocity": {
                    "x": -14.734512329101562,
                    "y": 0.32928958535194397,
                    "z": -0.2850707471370697
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4055,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.279581069946289,
                "transform": {
                    "location": {
                        "x": -1133.9425048828125,
                        "y": 3094.325927734375,
                        "z": 353.9109802246094
                    },
                    "rotation": {
                        "roll": 0.02120191976428032,
                        "pitch": 2.073857069015503,
                        "yaw": -0.8916931748390198
                    }
                },
                "velocity": {
                    "x": 6.274516582489014,
                    "y": -0.10814902931451797,
                    "z": 0.22778314352035522
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4054,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.55691385269165,
                "transform": {
                    "location": {
                        "x": -1133.799072265625,
                        "y": 3097.822021484375,
                        "z": 353.91802978515625
                    },
                    "rotation": {
                        "roll": 0.009244446642696857,
                        "pitch": 2.0809810161590576,
                        "yaw": -0.8680726289749146
                    }
                },
                "velocity": {
                    "x": 6.551403522491455,
                    "y": -0.12333779782056808,
                    "z": 0.23879525065422058
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4053,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.742778301239014,
                "transform": {
                    "location": {
                        "x": -1133.5174560546875,
                        "y": 3101.315185546875,
                        "z": 353.9188537597656
                    },
                    "rotation": {
                        "roll": 0.03987306356430054,
                        "pitch": 1.7177515029907227,
                        "yaw": -0.8662413358688354
                    }
                },
                "velocity": {
                    "x": 5.738077163696289,
                    "y": -0.10145730525255203,
                    "z": 0.20900112390518188
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.975043296813965,
                "transform": {
                    "location": {
                        "x": -1132.920654296875,
                        "y": 3104.8046875,
                        "z": 353.9354248046875
                    },
                    "rotation": {
                        "roll": 0.019279075786471367,
                        "pitch": 2.096567392349243,
                        "yaw": -0.8104247450828552
                    }
                },
                "velocity": {
                    "x": 7.9686408042907715,
                    "y": -0.13299712538719177,
                    "z": 0.2904976010322571
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.873530387878418,
                "transform": {
                    "location": {
                        "x": -1134.6263427734375,
                        "y": 3076.753662109375,
                        "z": 353.8904724121094
                    },
                    "rotation": {
                        "roll": -0.0007934562163427472,
                        "pitch": -2.0923123359680176,
                        "yaw": 178.7212677001953
                    }
                },
                "velocity": {
                    "x": -15.859045028686523,
                    "y": 0.35214605927467346,
                    "z": -0.5793660879135132
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4034,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1297.767333984375,
                        "y": 3080.463134765625,
                        "z": 346.5443420410156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9224181175231934,
                        "yaw": 178.02867126464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1256.43408203125,
                        "y": 3079.474853515625,
                        "z": 348.21942138671875
                    },
                    "rotation": {
                        "roll": 6.677452368819559e-09,
                        "pitch": -2.687856912612915,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4032,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1232.45263671875,
                        "y": 3078.93896484375,
                        "z": 349.4037170410156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.9053027629852295,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.451313018798828,
                "transform": {
                    "location": {
                        "x": -1160.4385986328125,
                        "y": 3077.330322265625,
                        "z": 352.9540100097656
                    },
                    "rotation": {
                        "roll": -0.0001220668273163028,
                        "pitch": -2.187129020690918,
                        "yaw": 178.7174072265625
                    }
                },
                "velocity": {
                    "x": -16.435693740844727,
                    "y": 0.3656805455684662,
                    "z": -0.6164146065711975
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.091219902038574,
                "transform": {
                    "location": {
                        "x": -1038.4766845703125,
                        "y": 3054.314697265625,
                        "z": 357.7269592285156
                    },
                    "rotation": {
                        "roll": 0.053553927689790726,
                        "pitch": -3.1347970962524414,
                        "yaw": 165.8107452392578
                    }
                },
                "velocity": {
                    "x": -7.826655864715576,
                    "y": 2.0034031867980957,
                    "z": -0.44459983706474304
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.066515922546387,
                "transform": {
                    "location": {
                        "x": -1055.91748046875,
                        "y": 3059.07470703125,
                        "z": 356.81494140625
                    },
                    "rotation": {
                        "roll": 0.009464742615818977,
                        "pitch": -2.682795763015747,
                        "yaw": 163.82981872558594
                    }
                },
                "velocity": {
                    "x": -7.737630367279053,
                    "y": 2.2484376430511475,
                    "z": -0.3772053122520447
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.03634628280997276,
        "expert_target_speed": 14.209638511172388,
        "target_point": [
            20.91321061005466,
            0.9051508873472145
        ],
        "target_point_next": [
            33.68695727927181,
            2.2535359960813386
        ]
    },
    "275": {
        "acceleration": [
            0.5019760131835938,
            -1.2793755531311035,
            -0.0002574920654296875
        ],
        "angular_velocity": [
            -0.261179655790329,
            -0.10709813237190247,
            5.428642272949219
        ],
        "forward_vector": [
            -0.9932970404624939,
            0.11059208959341049,
            -0.03362081199884415
        ],
        "right_vector": [
            -0.11080097407102585,
            -0.9938328862190247,
            0.004408751614391804
        ],
        "location": [
            -1101.5982666015625,
            3071.21044921875,
            355.0915222167969
        ],
        "rotation": [
            -0.25274658203125,
            -1.9266937971115112,
            173.64694213867188
        ],
        "velocity": [
            -13.28515625,
            1.4591692686080933,
            -0.4354414939880371
        ],
        "speed": 13.365049627343863,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 40.46295928955078,
        "front_vehicle_info": {
            "id": 4054,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                -1132.086669921875,
                3097.7900390625,
                353.98077392578125
            ],
            "velocity": [
                6.854647159576416,
                -0.13551728427410126,
                0.2502972185611725
            ],
            "speed_kmh": 24.697994433407377,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4067,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1028.8924560546875,
                        "y": 3077.89208984375,
                        "z": 356.5565490722656
                    },
                    "rotation": {
                        "roll": 1.2506727875560841e-09,
                        "pitch": -0.38189634680747986,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4066,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.1373419761657715,
                "transform": {
                    "location": {
                        "x": -1163.6005859375,
                        "y": 3094.907470703125,
                        "z": 352.822265625
                    },
                    "rotation": {
                        "roll": -0.02285766787827015,
                        "pitch": 1.5905870199203491,
                        "yaw": -1.18499755859375
                    }
                },
                "velocity": {
                    "x": 4.134487628936768,
                    "y": -0.059560779482126236,
                    "z": 0.14163582026958466
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.043337345123291,
                "transform": {
                    "location": {
                        "x": -1163.2747802734375,
                        "y": 3098.39990234375,
                        "z": 352.83172607421875
                    },
                    "rotation": {
                        "roll": 0.004410434048622847,
                        "pitch": 2.378476619720459,
                        "yaw": -1.24810791015625
                    }
                },
                "velocity": {
                    "x": 4.039385795593262,
                    "y": -0.07643400132656097,
                    "z": 0.16154265403747559
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1164.5029296875,
                        "y": 3101.9267578125,
                        "z": 352.7828369140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4063,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1163.0128173828125,
                        "y": 3105.394287109375,
                        "z": 352.83721923828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4062,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.600186347961426,
                "transform": {
                    "location": {
                        "x": -1147.8104248046875,
                        "y": 3094.605224609375,
                        "z": 353.4053039550781
                    },
                    "rotation": {
                        "roll": 0.023671159520745277,
                        "pitch": 2.0752367973327637,
                        "yaw": -0.807861328125
                    }
                },
                "velocity": {
                    "x": 6.595077991485596,
                    "y": -0.09961628913879395,
                    "z": 0.23975495994091034
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4061,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.2750163078308105,
                "transform": {
                    "location": {
                        "x": -1147.7471923828125,
                        "y": 3098.104248046875,
                        "z": 353.3955078125
                    },
                    "rotation": {
                        "roll": 0.019247913733124733,
                        "pitch": 2.0003232955932617,
                        "yaw": -0.8324889540672302
                    }
                },
                "velocity": {
                    "x": 5.270817756652832,
                    "y": -0.08750173449516296,
                    "z": 0.1913646012544632
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4060,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.428373336791992,
                "transform": {
                    "location": {
                        "x": -1148.9287109375,
                        "y": 3101.61669921875,
                        "z": 353.3940124511719
                    },
                    "rotation": {
                        "roll": 0.029255816712975502,
                        "pitch": 2.0294950008392334,
                        "yaw": -0.6608275175094604
                    }
                },
                "velocity": {
                    "x": 4.42482328414917,
                    "y": -0.07050769776105881,
                    "z": 0.1626584380865097
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4059,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.431342124938965,
                "transform": {
                    "location": {
                        "x": -1146.9385986328125,
                        "y": 3105.0791015625,
                        "z": 353.43408203125
                    },
                    "rotation": {
                        "roll": 0.039324384182691574,
                        "pitch": 2.0898122787475586,
                        "yaw": -0.6886595487594604
                    }
                },
                "velocity": {
                    "x": 7.4258036613464355,
                    "y": -0.10228781402111053,
                    "z": 0.26799488067626953
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4058,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.5440034866333,
                "transform": {
                    "location": {
                        "x": -1038.5147705078125,
                        "y": 3081.52001953125,
                        "z": 356.4632263183594
                    },
                    "rotation": {
                        "roll": -0.00012206986139062792,
                        "pitch": -0.5523095726966858,
                        "yaw": 178.8938446044922
                    }
                },
                "velocity": {
                    "x": -8.5419282913208,
                    "y": 0.16751615703105927,
                    "z": -0.08603619039058685
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4057,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.078510284423828,
                "transform": {
                    "location": {
                        "x": -1044.8785400390625,
                        "y": 3078.153564453125,
                        "z": 356.3987121582031
                    },
                    "rotation": {
                        "roll": 0.0009730566525831819,
                        "pitch": -0.7756021022796631,
                        "yaw": 178.79254150390625
                    }
                },
                "velocity": {
                    "x": -8.07587718963623,
                    "y": 0.17363548278808594,
                    "z": -0.11122891306877136
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 15.659300804138184,
                "transform": {
                    "location": {
                        "x": -1068.6671142578125,
                        "y": 3075.280029296875,
                        "z": 355.989013671875
                    },
                    "rotation": {
                        "roll": 0.00014383011148311198,
                        "pitch": -1.0708643198013306,
                        "yaw": 178.71722412109375
                    }
                },
                "velocity": {
                    "x": -15.651957511901855,
                    "y": 0.35075071454048157,
                    "z": -0.32692816853523254
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4055,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.327143669128418,
                "transform": {
                    "location": {
                        "x": -1132.1175537109375,
                        "y": 3094.291748046875,
                        "z": 353.9778747558594
                    },
                    "rotation": {
                        "roll": 0.017587682232260704,
                        "pitch": 2.3399338722229004,
                        "yaw": -1.0595093965530396
                    }
                },
                "velocity": {
                    "x": 8.320062637329102,
                    "y": -0.161085844039917,
                    "z": 0.3032069504261017
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4054,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.860553741455078,
                "transform": {
                    "location": {
                        "x": -1132.086669921875,
                        "y": 3097.7900390625,
                        "z": 353.98077392578125
                    },
                    "rotation": {
                        "roll": 0.005651532206684351,
                        "pitch": 2.0427045822143555,
                        "yaw": -1.0445863008499146
                    }
                },
                "velocity": {
                    "x": 6.854647159576416,
                    "y": -0.13551728427410126,
                    "z": 0.2502972185611725
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4053,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.70613956451416,
                "transform": {
                    "location": {
                        "x": -1132.0323486328125,
                        "y": 3101.288330078125,
                        "z": 353.9712829589844
                    },
                    "rotation": {
                        "roll": 0.03003043308854103,
                        "pitch": 2.1720547676086426,
                        "yaw": -1.065368413925171
                    }
                },
                "velocity": {
                    "x": 6.700428485870361,
                    "y": -0.13030888140201569,
                    "z": 0.24411293864250183
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4052,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.25008773803711,
                "transform": {
                    "location": {
                        "x": -1130.857421875,
                        "y": 3104.76904296875,
                        "z": 354.0106506347656
                    },
                    "rotation": {
                        "roll": 0.010208825580775738,
                        "pitch": 2.097120761871338,
                        "yaw": -1.04638671875
                    }
                },
                "velocity": {
                    "x": 8.243087768554688,
                    "y": -0.15968725085258484,
                    "z": 0.2999337911605835
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.875054359436035,
                "transform": {
                    "location": {
                        "x": -1138.5911865234375,
                        "y": 3076.842041015625,
                        "z": 353.7458801269531
                    },
                    "rotation": {
                        "roll": 0.0003854155947919935,
                        "pitch": -2.092346429824829,
                        "yaw": 178.71766662597656
                    }
                },
                "velocity": {
                    "x": -15.860445976257324,
                    "y": 0.3576606214046478,
                    "z": -0.5793911814689636
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4034,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1302.0125732421875,
                        "y": 3080.609375,
                        "z": 346.4031982421875
                    },
                    "rotation": {
                        "roll": -3.3368174889858437e-09,
                        "pitch": -1.8632686138153076,
                        "yaw": 177.78689575195312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1260.677490234375,
                        "y": 3079.569580078125,
                        "z": 348.01763916015625
                    },
                    "rotation": {
                        "roll": 6.677452368819559e-09,
                        "pitch": -2.687856912612915,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4032,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1236.6956787109375,
                        "y": 3079.033935546875,
                        "z": 349.1883239746094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.8573548793792725,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.45417594909668,
                "transform": {
                    "location": {
                        "x": -1164.546875,
                        "y": 3077.421875,
                        "z": 352.79730224609375
                    },
                    "rotation": {
                        "roll": 0.00119106937199831,
                        "pitch": -2.2752928733825684,
                        "yaw": 178.72300720214844
                    }
                },
                "velocity": {
                    "x": -16.437484741210938,
                    "y": 0.3679313659667969,
                    "z": -0.6431155800819397
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.9797186851501465,
                "transform": {
                    "location": {
                        "x": -1040.44921875,
                        "y": 3054.820556640625,
                        "z": 357.61614990234375
                    },
                    "rotation": {
                        "roll": 0.03527726233005524,
                        "pitch": -3.1169703006744385,
                        "yaw": 165.58767700195312
                    }
                },
                "velocity": {
                    "x": -7.715531349182129,
                    "y": 1.990578055381775,
                    "z": -0.4290473163127899
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.061712265014648,
                "transform": {
                    "location": {
                        "x": -1057.8492431640625,
                        "y": 3059.64404296875,
                        "z": 356.722412109375
                    },
                    "rotation": {
                        "roll": 0.02928679808974266,
                        "pitch": -2.635066270828247,
                        "yaw": 163.5263214111328
                    }
                },
                "velocity": {
                    "x": -7.71742057800293,
                    "y": 2.301633358001709,
                    "z": -0.36758074164390564
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.01098222378641367,
        "expert_target_speed": 14.104962890106615,
        "target_point": [
            17.573571347179392,
            0.38322300858670877
        ],
        "target_point_next": [
            30.378955067957044,
            1.3876602313314224
        ]
    },
    "280": {
        "acceleration": [
            0.40435791015625,
            -0.551295280456543,
            -0.0568234920501709
        ],
        "angular_velocity": [
            0.34276556968688965,
            -0.6701880097389221,
            1.8589307069778442
        ],
        "forward_vector": [
            -0.9946950078010559,
            0.09626182913780212,
            -0.036269571632146835
        ],
        "right_vector": [
            -0.09644728899002075,
            -0.9953323006629944,
            0.003394886152818799
        ],
        "location": [
            -1104.90283203125,
            3071.552001953125,
            354.9803466796875
        ],
        "rotation": [
            -0.1946410834789276,
            -2.078549385070801,
            174.47239685058594
        ],
        "velocity": [
            -13.168621063232422,
            1.2748417854309082,
            -0.4539453685283661
        ],
        "speed": 13.230185270240522,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 49.31509780883789,
        "front_vehicle_info": {
            "id": 4061,
            "type": "vehicle.audi.tt",
            "location": [
                -1146.4444580078125,
                3098.083251953125,
                353.4425048828125
            ],
            "velocity": [
                5.318658351898193,
                -0.08767829090356827,
                0.1940196007490158
            ],
            "speed_kmh": 19.16250538084557,
            "color": "168,0,27"
        },
        "other_vehicles": [
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.9234042167663574,
                "transform": {
                    "location": {
                        "x": -1040.4720458984375,
                        "y": 3074.650146484375,
                        "z": 356.5541076660156
                    },
                    "rotation": {
                        "roll": -6.1034988902974874e-05,
                        "pitch": -0.5775129795074463,
                        "yaw": 178.72023010253906
                    }
                },
                "velocity": {
                    "x": 0.010138971731066704,
                    "y": -0.00021149545500520617,
                    "z": -0.9233485460281372
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4067,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1030.908935546875,
                        "y": 3077.93701171875,
                        "z": 356.5381164550781
                    },
                    "rotation": {
                        "roll": 1.2506727875560841e-09,
                        "pitch": -0.38189634680747986,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4066,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.041611194610596,
                "transform": {
                    "location": {
                        "x": -1162.5767822265625,
                        "y": 3094.89306640625,
                        "z": 352.85858154296875
                    },
                    "rotation": {
                        "roll": -0.008697508834302425,
                        "pitch": 1.867127776145935,
                        "yaw": -0.9623717665672302
                    }
                },
                "velocity": {
                    "x": 4.038479328155518,
                    "y": -0.049206409603357315,
                    "z": 0.15128067135810852
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.8123421669006348,
                "transform": {
                    "location": {
                        "x": -1162.3128662109375,
                        "y": 3098.38671875,
                        "z": 352.8707275390625
                    },
                    "rotation": {
                        "roll": 0.014419544488191605,
                        "pitch": 2.2899370193481445,
                        "yaw": -1.0218505859375
                    }
                },
                "velocity": {
                    "x": 3.8092195987701416,
                    "y": -0.041021160781383514,
                    "z": 0.14871780574321747
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.004136636387556791,
                "transform": {
                    "location": {
                        "x": -1164.08642578125,
                        "y": 3101.91748046875,
                        "z": 352.799560546875
                    },
                    "rotation": {
                        "roll": -0.0009765635477378964,
                        "pitch": 2.2710444927215576,
                        "yaw": -1.2796324491500854
                    }
                },
                "velocity": {
                    "x": -0.0004413869755808264,
                    "y": 0.00013497474719770253,
                    "z": 0.004110805224627256
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4063,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.897181510925293,
                "transform": {
                    "location": {
                        "x": -1161.5833740234375,
                        "y": 3105.3662109375,
                        "z": 352.8970947265625
                    },
                    "rotation": {
                        "roll": -0.02587890625,
                        "pitch": 1.659886121749878,
                        "yaw": -1.1401063203811646
                    }
                },
                "velocity": {
                    "x": 4.892806529998779,
                    "y": -0.0618426650762558,
                    "z": 0.19749806821346283
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4062,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.428086757659912,
                "transform": {
                    "location": {
                        "x": -1146.3150634765625,
                        "y": 3094.581787109375,
                        "z": 353.45965576171875
                    },
                    "rotation": {
                        "roll": 0.017708878964185715,
                        "pitch": 1.9637271165847778,
                        "yaw": -0.897064208984375
                    }
                },
                "velocity": {
                    "x": 5.423758506774902,
                    "y": -0.08806988596916199,
                    "z": 0.19801656901836395
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4061,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.322917938232422,
                "transform": {
                    "location": {
                        "x": -1146.4444580078125,
                        "y": 3098.083251953125,
                        "z": 353.4425048828125
                    },
                    "rotation": {
                        "roll": 0.01648266613483429,
                        "pitch": 2.071070432662964,
                        "yaw": -0.8800963759422302
                    }
                },
                "velocity": {
                    "x": 5.318658351898193,
                    "y": -0.08767829090356827,
                    "z": 0.1940196007490158
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4060,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.311365604400635,
                "transform": {
                    "location": {
                        "x": -1147.7037353515625,
                        "y": 3101.5986328125,
                        "z": 353.4381103515625
                    },
                    "rotation": {
                        "roll": 0.021755337715148926,
                        "pitch": 2.156980514526367,
                        "yaw": -0.7822266221046448
                    }
                },
                "velocity": {
                    "x": 5.307103157043457,
                    "y": -0.08332276344299316,
                    "z": 0.19574886560440063
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4059,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.078328609466553,
                "transform": {
                    "location": {
                        "x": -1145.1251220703125,
                        "y": 3105.053955078125,
                        "z": 353.49969482421875
                    },
                    "rotation": {
                        "roll": 0.024349629878997803,
                        "pitch": 2.086103677749634,
                        "yaw": -0.8006287217140198
                    }
                },
                "velocity": {
                    "x": 7.07285213470459,
                    "y": -0.10414063185453415,
                    "z": 0.2581774592399597
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4058,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.126761436462402,
                "transform": {
                    "location": {
                        "x": -1040.58935546875,
                        "y": 3081.560791015625,
                        "z": 356.44293212890625
                    },
                    "rotation": {
                        "roll": 4.1690256802340286e-10,
                        "pitch": -0.5738178491592407,
                        "yaw": 178.8111114501953
                    }
                },
                "velocity": {
                    "x": -8.124664306640625,
                    "y": 0.16652503609657288,
                    "z": -0.07971134781837463
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4057,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.048776626586914,
                "transform": {
                    "location": {
                        "x": -1046.8941650390625,
                        "y": 3078.197021484375,
                        "z": 356.37127685546875
                    },
                    "rotation": {
                        "roll": 0.0017649021465331316,
                        "pitch": -0.7748371362686157,
                        "yaw": 178.74391174316406
                    }
                },
                "velocity": {
                    "x": -8.046113967895508,
                    "y": 0.17553752660751343,
                    "z": -0.10972187668085098
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.415624618530273,
                "transform": {
                    "location": {
                        "x": -1072.6884765625,
                        "y": 3075.369873046875,
                        "z": 355.9015808105469
                    },
                    "rotation": {
                        "roll": 3.790859045693651e-05,
                        "pitch": -1.1927149295806885,
                        "yaw": 178.72401428222656
                    }
                },
                "velocity": {
                    "x": -16.40750503540039,
                    "y": 0.36613574624061584,
                    "z": -0.363955020904541
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.877973556518555,
                "transform": {
                    "location": {
                        "x": -1142.556640625,
                        "y": 3076.93115234375,
                        "z": 353.60125732421875
                    },
                    "rotation": {
                        "roll": 0.00233677146025002,
                        "pitch": -2.0929884910583496,
                        "yaw": 178.71463012695312
                    }
                },
                "velocity": {
                    "x": -15.863447189331055,
                    "y": 0.35371601581573486,
                    "z": -0.579632580280304
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4034,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1306.2572021484375,
                        "y": 3080.769287109375,
                        "z": 346.2657775878906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.6445318460464478,
                        "yaw": 177.54510498046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1264.9212646484375,
                        "y": 3079.66455078125,
                        "z": 347.82373046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.5830066204071045,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4032,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1240.9385986328125,
                        "y": 3079.128662109375,
                        "z": 348.97576904296875
                    },
                    "rotation": {
                        "roll": -3.3390665787891294e-09,
                        "pitch": -2.809420585632324,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.45730972290039,
                "transform": {
                    "location": {
                        "x": -1168.65576171875,
                        "y": 3077.513671875,
                        "z": 352.6330871582031
                    },
                    "rotation": {
                        "roll": 0.001021631876938045,
                        "pitch": -2.358546257019043,
                        "yaw": 178.7125244140625
                    }
                },
                "velocity": {
                    "x": -16.43928337097168,
                    "y": 0.368925541639328,
                    "z": -0.6759610772132874
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.595378398895264,
                "transform": {
                    "location": {
                        "x": -1042.3143310546875,
                        "y": 3055.303466796875,
                        "z": 357.5133361816406
                    },
                    "rotation": {
                        "roll": 0.03897732123732567,
                        "pitch": -3.218132257461548,
                        "yaw": 165.46661376953125
                    }
                },
                "velocity": {
                    "x": -7.334237098693848,
                    "y": 1.9334713220596313,
                    "z": -0.4005304276943207
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.064055442810059,
                "transform": {
                    "location": {
                        "x": -1059.778564453125,
                        "y": 3060.222412109375,
                        "z": 356.6316833496094
                    },
                    "rotation": {
                        "roll": 0.015774838626384735,
                        "pitch": -2.5714704990386963,
                        "yaw": 163.30438232421875
                    }
                },
                "velocity": {
                    "x": -7.714397430419922,
                    "y": 2.320998430252075,
                    "z": -0.3605877459049225
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.029877567663788795,
        "expert_target_speed": 13.988880549958763,
        "target_point": [
            14.255169384421587,
            0.15166721618974766
        ],
        "target_point_next": [
            27.073694339893173,
            0.9715235064897683
        ]
    },
    "285": {
        "acceleration": [
            0.8653068542480469,
            -0.37442922592163086,
            0.0032198429107666016
        ],
        "angular_velocity": [
            0.4228566288948059,
            -0.11157376319169998,
            1.1869415044784546
        ],
        "forward_vector": [
            -0.9952166080474854,
            0.09036192297935486,
            -0.03712933138012886
        ],
        "right_vector": [
            -0.0904795303940773,
            -0.9958971738815308,
            0.0014961956767365336
        ],
        "location": [
            -1108.173095703125,
            3071.858642578125,
            354.8649597167969
        ],
        "rotation": [
            -0.08578488230705261,
            -2.127842903137207,
            174.81198120117188
        ],
        "velocity": [
            -12.994956016540527,
            1.1695561408996582,
            -0.46294310688972473
        ],
        "speed": 13.047480348271806,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 45.24545669555664,
        "front_vehicle_info": {
            "id": 4061,
            "type": "vehicle.audi.tt",
            "location": [
                -1145.0340576171875,
                3098.060546875,
                353.4933776855469
            ],
            "velocity": [
                6.350733280181885,
                -0.10748980194330215,
                0.23191086947917938
            ],
            "speed_kmh": 22.881150818254042,
            "color": "168,0,27"
        },
        "other_vehicles": [
            {
                "id": 4069,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1026.8013916015625,
                        "y": 3081.346435546875,
                        "z": 356.5749816894531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.25598180294036865,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.1424320489168167,
                "transform": {
                    "location": {
                        "x": -1040.4710693359375,
                        "y": 3074.650146484375,
                        "z": 356.4201965332031
                    },
                    "rotation": {
                        "roll": 0.0007197993691079319,
                        "pitch": -0.5400630235671997,
                        "yaw": 178.72019958496094
                    }
                },
                "velocity": {
                    "x": 0.0012117651058360934,
                    "y": 2.199064510932658e-06,
                    "z": -0.14242689311504364
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4067,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1032.9205322265625,
                        "y": 3077.982666015625,
                        "z": 356.5220947265625
                    },
                    "rotation": {
                        "roll": 4.168983769314849e-10,
                        "pitch": -0.5130564570426941,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4066,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.7754147052764893,
                "transform": {
                    "location": {
                        "x": -1161.58203125,
                        "y": 3094.880615234375,
                        "z": 352.89593505859375
                    },
                    "rotation": {
                        "roll": 0.0070694247260689735,
                        "pitch": 2.0211963653564453,
                        "yaw": -0.8302916884422302
                    }
                },
                "velocity": {
                    "x": 3.77245831489563,
                    "y": -0.04417971149086952,
                    "z": 0.142697274684906
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.7021842002868652,
                "transform": {
                    "location": {
                        "x": -1161.3756103515625,
                        "y": 3098.37548828125,
                        "z": 352.907958984375
                    },
                    "rotation": {
                        "roll": 0.017207451164722443,
                        "pitch": 2.1617820262908936,
                        "yaw": -0.8699341416358948
                    }
                },
                "velocity": {
                    "x": 3.6992759704589844,
                    "y": -0.03911378234624863,
                    "z": 0.14140301942825317
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00010328411008231342,
                "transform": {
                    "location": {
                        "x": -1164.0863037109375,
                        "y": 3101.91748046875,
                        "z": 352.80010986328125
                    },
                    "rotation": {
                        "roll": -0.00024414141080342233,
                        "pitch": 2.2840218544006348,
                        "yaw": -1.279510259628296
                    }
                },
                "velocity": {
                    "x": -6.353169737849385e-05,
                    "y": 6.022657180437818e-05,
                    "z": -5.480958861880936e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4063,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.762107849121094,
                "transform": {
                    "location": {
                        "x": -1160.3736572265625,
                        "y": 3105.350830078125,
                        "z": 352.94171142578125
                    },
                    "rotation": {
                        "roll": -0.001953125,
                        "pitch": 2.04673433303833,
                        "yaw": -0.8614501357078552
                    }
                },
                "velocity": {
                    "x": 4.75840950012207,
                    "y": -0.045073021203279495,
                    "z": 0.18214896321296692
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4062,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.621189594268799,
                "transform": {
                    "location": {
                        "x": -1144.966552734375,
                        "y": 3094.5595703125,
                        "z": 353.5089416503906
                    },
                    "rotation": {
                        "roll": 0.013692415319383144,
                        "pitch": 2.0859601497650146,
                        "yaw": -0.9512020945549011
                    }
                },
                "velocity": {
                    "x": 5.616690635681152,
                    "y": -0.09317253530025482,
                    "z": 0.20464235544204712
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4061,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.355875492095947,
                "transform": {
                    "location": {
                        "x": -1145.0340576171875,
                        "y": 3098.060546875,
                        "z": 353.4933776855469
                    },
                    "rotation": {
                        "roll": 0.010650507174432278,
                        "pitch": 2.1309711933135986,
                        "yaw": -0.9992675185203552
                    }
                },
                "velocity": {
                    "x": 6.350733280181885,
                    "y": -0.10748980194330215,
                    "z": 0.23191086947917938
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4060,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.683521270751953,
                "transform": {
                    "location": {
                        "x": -1146.3651123046875,
                        "y": 3101.578125,
                        "z": 353.487060546875
                    },
                    "rotation": {
                        "roll": 0.015918651595711708,
                        "pitch": 2.1416194438934326,
                        "yaw": -0.8704223036766052
                    }
                },
                "velocity": {
                    "x": 5.679033279418945,
                    "y": -0.09010499715805054,
                    "z": 0.20706701278686523
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4059,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.641784191131592,
                "transform": {
                    "location": {
                        "x": -1143.591552734375,
                        "y": 3105.03076171875,
                        "z": 353.55804443359375
                    },
                    "rotation": {
                        "roll": 0.02303663082420826,
                        "pitch": 1.8033337593078613,
                        "yaw": -0.880218505859375
                    }
                },
                "velocity": {
                    "x": 5.637179851531982,
                    "y": -0.09651108831167221,
                    "z": 0.20645014941692352
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4058,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.222525596618652,
                "transform": {
                    "location": {
                        "x": -1042.562255859375,
                        "y": 3081.601806640625,
                        "z": 356.4207763671875
                    },
                    "rotation": {
                        "roll": -3.0517299819621257e-05,
                        "pitch": -0.7178323268890381,
                        "yaw": 178.7698211669922
                    }
                },
                "velocity": {
                    "x": -7.220335960388184,
                    "y": 0.15307876467704773,
                    "z": -0.09051817655563354
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4057,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.056564331054688,
                "transform": {
                    "location": {
                        "x": -1048.9056396484375,
                        "y": 3078.2412109375,
                        "z": 356.3439636230469
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.7869880199432373,
                        "yaw": 178.76210021972656
                    }
                },
                "velocity": {
                    "x": -8.053786277770996,
                    "y": 0.1767147034406662,
                    "z": -0.11629468947649002
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.459732055664062,
                "transform": {
                    "location": {
                        "x": -1076.8060302734375,
                        "y": 3075.462158203125,
                        "z": 355.8056640625
                    },
                    "rotation": {
                        "roll": 0.00027028072508983314,
                        "pitch": -1.3168262243270874,
                        "yaw": 178.71580505371094
                    }
                },
                "velocity": {
                    "x": -16.450881958007812,
                    "y": 0.3684217035770416,
                    "z": -0.39435258507728577
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.881196022033691,
                "transform": {
                    "location": {
                        "x": -1146.52294921875,
                        "y": 3077.01953125,
                        "z": 353.4566345214844
                    },
                    "rotation": {
                        "roll": -0.00024414018844254315,
                        "pitch": -2.092039108276367,
                        "yaw": 178.7255859375
                    }
                },
                "velocity": {
                    "x": -15.866686820983887,
                    "y": 0.35341089963912964,
                    "z": -0.5794272422790527
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4034,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1310.50146484375,
                        "y": 3080.944091796875,
                        "z": 346.13885498046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.6445318460464478,
                        "yaw": 177.54510498046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1269.1649169921875,
                        "y": 3079.759033203125,
                        "z": 347.6358642578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.478149652481079,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4032,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1245.18115234375,
                        "y": 3079.223388671875,
                        "z": 348.76611328125
                    },
                    "rotation": {
                        "roll": -3.3390665787891294e-09,
                        "pitch": -2.809420585632324,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.460580825805664,
                "transform": {
                    "location": {
                        "x": -1172.7647705078125,
                        "y": 3077.605224609375,
                        "z": 352.46124267578125
                    },
                    "rotation": {
                        "roll": -0.0022277827374637127,
                        "pitch": -2.4751579761505127,
                        "yaw": 178.7267303466797
                    }
                },
                "velocity": {
                    "x": -16.441579818725586,
                    "y": 0.36614906787872314,
                    "z": -0.7007946372032166
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.236828804016113,
                "transform": {
                    "location": {
                        "x": -1044.2181396484375,
                        "y": 3055.80859375,
                        "z": 357.40869140625
                    },
                    "rotation": {
                        "roll": 0.051617369055747986,
                        "pitch": -2.927002191543579,
                        "yaw": 165.12123107910156
                    }
                },
                "velocity": {
                    "x": -7.945793151855469,
                    "y": 2.1271936893463135,
                    "z": -0.4298419952392578
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.060078620910645,
                "transform": {
                    "location": {
                        "x": -1061.7066650390625,
                        "y": 3060.804931640625,
                        "z": 356.5428466796875
                    },
                    "rotation": {
                        "roll": 0.024895213544368744,
                        "pitch": -2.519526958465576,
                        "yaw": 163.16395568847656
                    }
                },
                "velocity": {
                    "x": -7.698314666748047,
                    "y": 2.3618781566619873,
                    "z": -0.34980055689811707
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.029600633308291435,
        "expert_target_speed": 13.829919298809608,
        "target_point": [
            10.971223684140885,
            0.0768479707905918
        ],
        "target_point_next": [
            23.794382810844052,
            0.8207138068401141
        ]
    },
    "290": {
        "acceleration": [
            0.1584625244140625,
            -0.27472496032714844,
            -0.02547740936279297
        ],
        "angular_velocity": [
            0.18748508393764496,
            -0.07574361562728882,
            1.156551480293274
        ],
        "forward_vector": [
            -0.9956183433532715,
            0.0853419303894043,
            -0.038221340626478195
        ],
        "right_vector": [
            -0.08541220426559448,
            -0.9963456988334656,
            0.00020651041995733976
        ],
        "location": [
            -1111.4014892578125,
            3072.142333984375,
            354.74853515625
        ],
        "rotation": [
            -0.011840827763080597,
            -2.190455198287964,
            175.10072326660156
        ],
        "velocity": [
            -12.868367195129395,
            1.0916200876235962,
            -0.467619925737381
        ],
        "speed": 12.914585114682767,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 40.981990814208984,
        "front_vehicle_info": {
            "id": 4061,
            "type": "vehicle.audi.tt",
            "location": [
                -1143.1519775390625,
                3098.027099609375,
                353.5615539550781
            ],
            "velocity": [
                8.220361709594727,
                -0.16062895953655243,
                0.29904210567474365
            ],
            "speed_kmh": 29.618522671853906,
            "color": "168,0,27"
        },
        "other_vehicles": [
            {
                "id": 4069,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1028.5538330078125,
                        "y": 3081.38525390625,
                        "z": 356.5589294433594
                    },
                    "rotation": {
                        "roll": 1.2506727875560841e-09,
                        "pitch": -0.38189634680747986,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1041.3206787109375,
                        "y": 3074.6689453125,
                        "z": 356.44073486328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6442575454711914,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4067,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1034.9356689453125,
                        "y": 3078.02734375,
                        "z": 356.50604248046875
                    },
                    "rotation": {
                        "roll": 4.168983769314849e-10,
                        "pitch": -0.5130564570426941,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4066,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.102944850921631,
                "transform": {
                    "location": {
                        "x": -1160.641357421875,
                        "y": 3094.869384765625,
                        "z": 352.9306640625
                    },
                    "rotation": {
                        "roll": 0.01667962782084942,
                        "pitch": 2.170435905456543,
                        "yaw": -0.753021240234375
                    }
                },
                "velocity": {
                    "x": 4.099823951721191,
                    "y": -0.04677316173911095,
                    "z": 0.15301938354969025
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.6939697265625,
                "transform": {
                    "location": {
                        "x": -1160.4600830078125,
                        "y": 3098.365234375,
                        "z": 352.9425354003906
                    },
                    "rotation": {
                        "roll": 0.01870143599808216,
                        "pitch": 2.147944211959839,
                        "yaw": -0.77435302734375
                    }
                },
                "velocity": {
                    "x": 3.6911745071411133,
                    "y": -0.038832686841487885,
                    "z": 0.1383279263973236
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.05923093855381012,
                "transform": {
                    "location": {
                        "x": -1164.0833740234375,
                        "y": 3101.91748046875,
                        "z": 352.8002014160156
                    },
                    "rotation": {
                        "roll": -0.00042724638478830457,
                        "pitch": 2.2901487350463867,
                        "yaw": -1.2791138887405396
                    }
                },
                "velocity": {
                    "x": 0.059193242341279984,
                    "y": -0.001269868342205882,
                    "z": 0.001688623335212469
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4063,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.0610857009887695,
                "transform": {
                    "location": {
                        "x": -1159.208740234375,
                        "y": 3105.338623046875,
                        "z": 352.9844055175781
                    },
                    "rotation": {
                        "roll": 0.02191237360239029,
                        "pitch": 2.161543130874634,
                        "yaw": -0.691497802734375
                    }
                },
                "velocity": {
                    "x": 4.058154582977295,
                    "y": -0.03470136225223541,
                    "z": 0.15032082796096802
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4062,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.10521936416626,
                "transform": {
                    "location": {
                        "x": -1143.4632568359375,
                        "y": 3094.53271484375,
                        "z": 353.5640869140625
                    },
                    "rotation": {
                        "roll": 0.01609620451927185,
                        "pitch": 2.310270309448242,
                        "yaw": -1.010955810546875
                    }
                },
                "velocity": {
                    "x": 7.099250316619873,
                    "y": -0.13304872810840607,
                    "z": 0.2590058147907257
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4061,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.227367401123047,
                "transform": {
                    "location": {
                        "x": -1143.1519775390625,
                        "y": 3098.027099609375,
                        "z": 353.5615539550781
                    },
                    "rotation": {
                        "roll": 0.011981421150267124,
                        "pitch": 2.2040200233459473,
                        "yaw": -1.0682373046875
                    }
                },
                "velocity": {
                    "x": 8.220361709594727,
                    "y": -0.16062895953655243,
                    "z": 0.29904210567474365
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4060,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.301088809967041,
                "transform": {
                    "location": {
                        "x": -1144.8465576171875,
                        "y": 3101.5537109375,
                        "z": 353.5413513183594
                    },
                    "rotation": {
                        "roll": 0.017130130901932716,
                        "pitch": 2.2630465030670166,
                        "yaw": -0.8620604872703552
                    }
                },
                "velocity": {
                    "x": 7.295332908630371,
                    "y": -0.1165928840637207,
                    "z": 0.2653695046901703
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4059,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.351304054260254,
                "transform": {
                    "location": {
                        "x": -1142.24755859375,
                        "y": 3105.0078125,
                        "z": 353.6056823730469
                    },
                    "rotation": {
                        "roll": 0.018831659108400345,
                        "pitch": 1.9718618392944336,
                        "yaw": -0.9906920790672302
                    }
                },
                "velocity": {
                    "x": 5.346799373626709,
                    "y": -0.10000727325677872,
                    "z": 0.19542036950588226
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4058,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.7508769035339355,
                "transform": {
                    "location": {
                        "x": -1044.271240234375,
                        "y": 3081.638427734375,
                        "z": 356.39996337890625
                    },
                    "rotation": {
                        "roll": -0.0004882820066995919,
                        "pitch": -0.8080796599388123,
                        "yaw": 178.74913024902344
                    }
                },
                "velocity": {
                    "x": -6.748682498931885,
                    "y": 0.14640294015407562,
                    "z": -0.09048133343458176
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4057,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.062808990478516,
                "transform": {
                    "location": {
                        "x": -1050.9195556640625,
                        "y": 3078.28564453125,
                        "z": 356.3135986328125
                    },
                    "rotation": {
                        "roll": 0.0012576727895066142,
                        "pitch": -0.9427504539489746,
                        "yaw": 178.72445678710938
                    }
                },
                "velocity": {
                    "x": -8.059918403625488,
                    "y": 0.17779384553432465,
                    "z": -0.12242555618286133
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.34663200378418,
                "transform": {
                    "location": {
                        "x": -1080.900390625,
                        "y": 3075.5537109375,
                        "z": 355.7038879394531
                    },
                    "rotation": {
                        "roll": -0.0011901854304596782,
                        "pitch": -1.4857778549194336,
                        "yaw": 178.71949768066406
                    }
                },
                "velocity": {
                    "x": -16.337135314941406,
                    "y": 0.36549293994903564,
                    "z": -0.42052778601646423
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.884294509887695,
                "transform": {
                    "location": {
                        "x": -1150.4901123046875,
                        "y": 3077.108154296875,
                        "z": 353.3119812011719
                    },
                    "rotation": {
                        "roll": -3.051775274798274e-05,
                        "pitch": -2.093050003051758,
                        "yaw": 178.72117614746094
                    }
                },
                "velocity": {
                    "x": -15.869755744934082,
                    "y": 0.35422128438949585,
                    "z": -0.5798202157020569
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4034,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7457275390625,
                        "y": 3081.13427734375,
                        "z": 346.0264892578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.4258360862731934,
                        "yaw": 177.3032989501953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1273.40869140625,
                        "y": 3079.853759765625,
                        "z": 347.4549865722656
                    },
                    "rotation": {
                        "roll": -1.6689581938678089e-09,
                        "pitch": -2.3733267784118652,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4032,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1249.423583984375,
                        "y": 3079.317626953125,
                        "z": 348.5593566894531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.783540964126587,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.464412689208984,
                "transform": {
                    "location": {
                        "x": -1176.874267578125,
                        "y": 3077.697509765625,
                        "z": 352.2821350097656
                    },
                    "rotation": {
                        "roll": -0.0021972618997097015,
                        "pitch": -2.6027185916900635,
                        "yaw": 178.71969604492188
                    }
                },
                "velocity": {
                    "x": -16.443992614746094,
                    "y": 0.3659045398235321,
                    "z": -0.7335460782051086
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.918390274047852,
                "transform": {
                    "location": {
                        "x": -1046.1859130859375,
                        "y": 3056.336181640625,
                        "z": 357.3037414550781
                    },
                    "rotation": {
                        "roll": 0.021438192576169968,
                        "pitch": -2.993863105773926,
                        "yaw": 164.9734344482422
                    }
                },
                "velocity": {
                    "x": -7.636399745941162,
                    "y": 2.0548818111419678,
                    "z": -0.40467414259910583
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.0618896484375,
                "transform": {
                    "location": {
                        "x": -1063.63037109375,
                        "y": 3061.401123046875,
                        "z": 356.455810546875
                    },
                    "rotation": {
                        "roll": 0.03327522054314613,
                        "pitch": -2.4619483947753906,
                        "yaw": 162.76283264160156
                    }
                },
                "velocity": {
                    "x": -7.68885612487793,
                    "y": 2.3996825218200684,
                    "z": -0.34218165278434753
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.015527218580245972,
        "expert_target_speed": 13.714000985104299,
        "target_point": [
            7.730644945337354,
            0.028497505618067076
        ],
        "target_point_next": [
            20.557389742809235,
            0.7077355134771282
        ]
    },
    "295": {
        "acceleration": [
            -0.22581100463867188,
            -0.23243427276611328,
            0.0057446956634521484
        ],
        "angular_velocity": [
            0.05076801776885986,
            0.21591880917549133,
            1.1398961544036865
        ],
        "forward_vector": [
            -0.9960587024688721,
            0.08037769049406052,
            -0.03750171512365341
        ],
        "right_vector": [
            -0.08042557537555695,
            -0.9967606067657471,
            -0.00023253260587807745
        ],
        "location": [
            -1114.6180419921875,
            3072.408447265625,
            354.6304626464844
        ],
        "rotation": [
            0.013332515954971313,
            -2.1491940021514893,
            175.386474609375
        ],
        "velocity": [
            -12.8876314163208,
            1.0299142599105835,
            -0.47167426347732544
        ],
        "speed": 12.928718687700883,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 36.814884185791016,
        "front_vehicle_info": {
            "id": 4061,
            "type": "vehicle.audi.tt",
            "location": [
                -1141.077392578125,
                3097.98681640625,
                353.6378173828125
            ],
            "velocity": [
                8.125258445739746,
                -0.15925365686416626,
                0.29608970880508423
            ],
            "speed_kmh": 29.275959578846113,
            "color": "168,0,27"
        },
        "other_vehicles": [
            {
                "id": 4069,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1030.3026123046875,
                        "y": 3081.424560546875,
                        "z": 356.54290771484375
                    },
                    "rotation": {
                        "roll": 1.2506727875560841e-09,
                        "pitch": -0.38189634680747986,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.962594985961914,
                "transform": {
                    "location": {
                        "x": -1045.203369140625,
                        "y": 3074.755859375,
                        "z": 356.43408203125
                    },
                    "rotation": {
                        "roll": -0.0005493165226653218,
                        "pitch": -1.19765305519104,
                        "yaw": 178.72052001953125
                    }
                },
                "velocity": {
                    "x": -14.957408905029297,
                    "y": 0.33473220467567444,
                    "z": -0.20768409967422485
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4067,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1036.9500732421875,
                        "y": 3078.07177734375,
                        "z": 356.48883056640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6442575454711914,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4066,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.290802478790283,
                "transform": {
                    "location": {
                        "x": -1159.460693359375,
                        "y": 3094.85595703125,
                        "z": 352.9737854003906
                    },
                    "rotation": {
                        "roll": 0.018740864470601082,
                        "pitch": 2.5324153900146484,
                        "yaw": -0.6906433701515198
                    }
                },
                "velocity": {
                    "x": 5.28666353225708,
                    "y": -0.058599069714546204,
                    "z": 0.20086437463760376
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.648813247680664,
                "transform": {
                    "location": {
                        "x": -1159.4202880859375,
                        "y": 3098.353759765625,
                        "z": 352.9822692871094
                    },
                    "rotation": {
                        "roll": 0.0221336018294096,
                        "pitch": 2.0684611797332764,
                        "yaw": -0.706329345703125
                    }
                },
                "velocity": {
                    "x": 4.6452789306640625,
                    "y": -0.04897146299481392,
                    "z": 0.1745019257068634
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.6198122501373291,
                "transform": {
                    "location": {
                        "x": -1164.0267333984375,
                        "y": 3101.91650390625,
                        "z": 352.8016662597656
                    },
                    "rotation": {
                        "roll": -0.0014648449141532183,
                        "pitch": 2.375300645828247,
                        "yaw": -1.2501219511032104
                    }
                },
                "velocity": {
                    "x": 0.6192824840545654,
                    "y": -0.008754385635256767,
                    "z": 0.024079160764813423
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4063,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.6856203079223633,
                "transform": {
                    "location": {
                        "x": -1158.3121337890625,
                        "y": 3105.326416015625,
                        "z": 353.0188293457031
                    },
                    "rotation": {
                        "roll": 0.03535402938723564,
                        "pitch": 1.9773601293563843,
                        "yaw": -0.7387999296188354
                    }
                },
                "velocity": {
                    "x": 3.6827409267425537,
                    "y": -0.05511217936873436,
                    "z": 0.1348266899585724
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4062,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.214997291564941,
                "transform": {
                    "location": {
                        "x": -1141.5194091796875,
                        "y": 3094.495361328125,
                        "z": 353.6349792480469
                    },
                    "rotation": {
                        "roll": 0.012057553976774216,
                        "pitch": 2.2943015098571777,
                        "yaw": -1.093963623046875
                    }
                },
                "velocity": {
                    "x": 8.207990646362305,
                    "y": -0.1597784161567688,
                    "z": 0.29924747347831726
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4061,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.132210731506348,
                "transform": {
                    "location": {
                        "x": -1141.077392578125,
                        "y": 3097.98681640625,
                        "z": 353.6378173828125
                    },
                    "rotation": {
                        "roll": 0.006708894856274128,
                        "pitch": 2.1158626079559326,
                        "yaw": -1.1239013671875
                    }
                },
                "velocity": {
                    "x": 8.125258445739746,
                    "y": -0.15925365686416626,
                    "z": 0.29608970880508423
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4060,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.33939266204834,
                "transform": {
                    "location": {
                        "x": -1142.833984375,
                        "y": 3101.52001953125,
                        "z": 353.61492919921875
                    },
                    "rotation": {
                        "roll": 0.01743287965655327,
                        "pitch": 2.237788438796997,
                        "yaw": -0.98480224609375
                    }
                },
                "velocity": {
                    "x": 8.33238410949707,
                    "y": -0.15768247842788696,
                    "z": 0.3032876253128052
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4059,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.3465118408203125,
                "transform": {
                    "location": {
                        "x": -1140.6668701171875,
                        "y": 3104.9775390625,
                        "z": 353.6590270996094
                    },
                    "rotation": {
                        "roll": 0.014912553131580353,
                        "pitch": 2.510183095932007,
                        "yaw": -0.9693604707717896
                    }
                },
                "velocity": {
                    "x": 7.34028434753418,
                    "y": -0.13985714316368103,
                    "z": 0.2681432366371155
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4058,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.510284900665283,
                "transform": {
                    "location": {
                        "x": -1046.042724609375,
                        "y": 3081.677001953125,
                        "z": 356.3753967285156
                    },
                    "rotation": {
                        "roll": 0.00010975026816595346,
                        "pitch": -0.7542099356651306,
                        "yaw": 178.73277282714844
                    }
                },
                "velocity": {
                    "x": -7.507776737213135,
                    "y": 0.1657221019268036,
                    "z": -0.1010175496339798
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4057,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.056501388549805,
                "transform": {
                    "location": {
                        "x": -1052.9332275390625,
                        "y": 3078.329833984375,
                        "z": 356.28045654296875
                    },
                    "rotation": {
                        "roll": 7.302343874471262e-05,
                        "pitch": -0.9849473834037781,
                        "yaw": 178.74937438964844
                    }
                },
                "velocity": {
                    "x": -8.053353309631348,
                    "y": 0.17754167318344116,
                    "z": -0.13852980732917786
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.344749450683594,
                "transform": {
                    "location": {
                        "x": -1084.9820556640625,
                        "y": 3075.64453125,
                        "z": 355.5964660644531
                    },
                    "rotation": {
                        "roll": -0.0006103525520302355,
                        "pitch": -1.5887155532836914,
                        "yaw": 178.72743225097656
                    }
                },
                "velocity": {
                    "x": -16.33482551574707,
                    "y": 0.36326780915260315,
                    "z": -0.43855780363082886
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.887272834777832,
                "transform": {
                    "location": {
                        "x": -1154.4578857421875,
                        "y": 3077.196533203125,
                        "z": 353.1673278808594
                    },
                    "rotation": {
                        "roll": 0.0006184508674778044,
                        "pitch": -2.091765880584717,
                        "yaw": 178.72508239746094
                    }
                },
                "velocity": {
                    "x": -15.872763633728027,
                    "y": 0.3533269762992859,
                    "z": -0.5796217918395996
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4034,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1318.989501953125,
                        "y": 3081.342041015625,
                        "z": 345.9283142089844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.2071539163589478,
                        "yaw": 177.0615234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1277.6519775390625,
                        "y": 3079.94873046875,
                        "z": 347.28033447265625
                    },
                    "rotation": {
                        "roll": -1.6688344040005632e-09,
                        "pitch": -2.268462896347046,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4032,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1253.66552734375,
                        "y": 3079.412353515625,
                        "z": 348.35321044921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.783540964126587,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.46781349182129,
                "transform": {
                    "location": {
                        "x": -1180.984619140625,
                        "y": 3077.7890625,
                        "z": 352.0956115722656
                    },
                    "rotation": {
                        "roll": 9.655294707044959e-05,
                        "pitch": -2.691920757293701,
                        "yaw": 178.72283935546875
                    }
                },
                "velocity": {
                    "x": -16.44613265991211,
                    "y": 0.36822566390037537,
                    "z": -0.7602918148040771
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.721611499786377,
                "transform": {
                    "location": {
                        "x": -1048.041015625,
                        "y": 3056.843017578125,
                        "z": 357.2065124511719
                    },
                    "rotation": {
                        "roll": 0.054561637341976166,
                        "pitch": -3.020043134689331,
                        "yaw": 164.6722412109375
                    }
                },
                "velocity": {
                    "x": -7.431713104248047,
                    "y": 2.059561014175415,
                    "z": -0.3887602984905243
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.06005859375,
                "transform": {
                    "location": {
                        "x": -1065.5523681640625,
                        "y": 3062.00341796875,
                        "z": 356.3705749511719
                    },
                    "rotation": {
                        "roll": 0.015792101621627808,
                        "pitch": -2.4096906185150146,
                        "yaw": 162.5956268310547
                    }
                },
                "velocity": {
                    "x": -7.68283224105835,
                    "y": 2.413625955581665,
                    "z": -0.33622434735298157
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.008718946948647499,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            17.33312826130914,
            0.6117329982742327
        ],
        "target_point_next": [
            23.526577543528905,
            -2.533349347355052
        ]
    },
    "300": {
        "acceleration": [
            -0.5398750305175781,
            0.0747990608215332,
            -0.0037658214569091797
        ],
        "angular_velocity": [
            0.297715425491333,
            0.12002132087945938,
            0.4831722378730774
        ],
        "forward_vector": [
            -0.9964736104011536,
            0.0754648819565773,
            -0.036679383367300034
        ],
        "right_vector": [
            -0.07549940794706345,
            -0.9971457719802856,
            -0.0004450113046914339
        ],
        "location": [
            -1117.85400390625,
            3072.659912109375,
            354.5118713378906
        ],
        "rotation": [
            0.02551444061100483,
            -2.1020452976226807,
            175.6691436767578
        ],
        "velocity": [
            -12.995945930480957,
            0.9874374270439148,
            -0.47478485107421875
        ],
        "speed": 13.033404900497477,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 33.042083740234375,
        "front_vehicle_info": {
            "id": 4061,
            "type": "vehicle.audi.tt",
            "location": [
                -1139.1063232421875,
                3097.94775390625,
                353.70989990234375
            ],
            "velocity": [
                7.819173812866211,
                -0.15446165204048157,
                0.28603193163871765
            ],
            "speed_kmh": 28.17334142618697,
            "color": "168,0,27"
        },
        "other_vehicles": [
            {
                "id": 4069,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1032.2406005859375,
                        "y": 3081.4677734375,
                        "z": 356.5270690917969
                    },
                    "rotation": {
                        "roll": 4.168983769314849e-10,
                        "pitch": -0.5130564570426941,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.960126876831055,
                "transform": {
                    "location": {
                        "x": -1048.9444580078125,
                        "y": 3074.839599609375,
                        "z": 356.3575439453125
                    },
                    "rotation": {
                        "roll": 0.0012806224403902888,
                        "pitch": -0.8856159448623657,
                        "yaw": 178.71470642089844
                    }
                },
                "velocity": {
                    "x": -14.953191757202148,
                    "y": 0.3352912962436676,
                    "z": -0.30825352668762207
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4067,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1038.9638671875,
                        "y": 3078.116455078125,
                        "z": 356.4686279296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6442575454711914,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4066,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.405567169189453,
                "transform": {
                    "location": {
                        "x": -1158.146728515625,
                        "y": 3094.836181640625,
                        "z": 353.0234680175781
                    },
                    "rotation": {
                        "roll": 0.03436264768242836,
                        "pitch": 2.346989393234253,
                        "yaw": -0.8251646757125854
                    }
                },
                "velocity": {
                    "x": 5.401167869567871,
                    "y": -0.08714292198419571,
                    "z": 0.19986897706985474
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.265555381774902,
                "transform": {
                    "location": {
                        "x": -1158.15380859375,
                        "y": 3098.3349609375,
                        "z": 353.0296936035156
                    },
                    "rotation": {
                        "roll": 0.013625803403556347,
                        "pitch": 2.0664122104644775,
                        "yaw": -0.7816466093063354
                    }
                },
                "velocity": {
                    "x": 5.261307239532471,
                    "y": -0.08655992150306702,
                    "z": 0.192940816283226
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.465051531791687,
                "transform": {
                    "location": {
                        "x": -1163.7647705078125,
                        "y": 3101.912353515625,
                        "z": 352.8108825683594
                    },
                    "rotation": {
                        "roll": -0.0029602081049233675,
                        "pitch": 2.484713315963745,
                        "yaw": -1.162750244140625
                    }
                },
                "velocity": {
                    "x": 1.4638738632202148,
                    "y": -0.018017984926700592,
                    "z": 0.05589921027421951
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4063,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.4186859130859375,
                "transform": {
                    "location": {
                        "x": -1157.1717529296875,
                        "y": 3105.309814453125,
                        "z": 353.0569763183594
                    },
                    "rotation": {
                        "roll": 0.021901343017816544,
                        "pitch": 2.463416814804077,
                        "yaw": -0.8024901747703552
                    }
                },
                "velocity": {
                    "x": 5.414302825927734,
                    "y": -0.08269648998975754,
                    "z": 0.2016085535287857
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4062,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.068426132202148,
                "transform": {
                    "location": {
                        "x": -1139.464599609375,
                        "y": 3094.454833984375,
                        "z": 353.7096862792969
                    },
                    "rotation": {
                        "roll": 0.007899642921984196,
                        "pitch": 2.1317291259765625,
                        "yaw": -1.1349180936813354
                    }
                },
                "velocity": {
                    "x": 8.061516761779785,
                    "y": -0.1604848951101303,
                    "z": 0.2927309274673462
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4061,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.825928211212158,
                "transform": {
                    "location": {
                        "x": -1139.1063232421875,
                        "y": 3097.94775390625,
                        "z": 353.70989990234375
                    },
                    "rotation": {
                        "roll": 0.006038178689777851,
                        "pitch": 2.0848331451416016,
                        "yaw": -1.133209228515625
                    }
                },
                "velocity": {
                    "x": 7.819173812866211,
                    "y": -0.15446165204048157,
                    "z": 0.28603193163871765
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4060,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.87950325012207,
                "transform": {
                    "location": {
                        "x": -1140.8056640625,
                        "y": 3101.4814453125,
                        "z": 353.6901550292969
                    },
                    "rotation": {
                        "roll": 0.009534628130495548,
                        "pitch": 2.0914788246154785,
                        "yaw": -1.0968017578125
                    }
                },
                "velocity": {
                    "x": 7.872783184051514,
                    "y": -0.15423619747161865,
                    "z": 0.28647080063819885
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4059,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.444585800170898,
                "transform": {
                    "location": {
                        "x": -1138.7352294921875,
                        "y": 3104.940673828125,
                        "z": 353.7298889160156
                    },
                    "rotation": {
                        "roll": 0.012311575002968311,
                        "pitch": 2.45007061958313,
                        "yaw": -0.9700314998626709
                    }
                },
                "velocity": {
                    "x": 8.437342643737793,
                    "y": -0.16461966931819916,
                    "z": 0.30852317810058594
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4058,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1048.0062255859375,
                        "y": 3081.7314453125,
                        "z": 356.3495178222656
                    },
                    "rotation": {
                        "roll": -8.338676416030921e-10,
                        "pitch": -0.9065504670143127,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4057,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.059823036193848,
                "transform": {
                    "location": {
                        "x": -1054.947021484375,
                        "y": 3078.375,
                        "z": 356.2459716796875
                    },
                    "rotation": {
                        "roll": 0.0017455449560657144,
                        "pitch": -0.9776595830917358,
                        "yaw": 178.71263122558594
                    }
                },
                "velocity": {
                    "x": -8.05664348602295,
                    "y": 0.1799105554819107,
                    "z": -0.13734839856624603
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.363059997558594,
                "transform": {
                    "location": {
                        "x": -1089.068115234375,
                        "y": 3075.73583984375,
                        "z": 355.4822692871094
                    },
                    "rotation": {
                        "roll": 0.00017782414215616882,
                        "pitch": -1.6170949935913086,
                        "yaw": 178.71823120117188
                    }
                },
                "velocity": {
                    "x": -16.35233497619629,
                    "y": 0.36536723375320435,
                    "z": -0.4662371575832367
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.8911714553833,
                "transform": {
                    "location": {
                        "x": -1158.42626953125,
                        "y": 3077.284912109375,
                        "z": 353.02197265625
                    },
                    "rotation": {
                        "roll": 0.0003962688206229359,
                        "pitch": -2.1202340126037598,
                        "yaw": 178.71853637695312
                    }
                },
                "velocity": {
                    "x": -15.876133918762207,
                    "y": 0.35701143741607666,
                    "z": -0.5918235778808594
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4034,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1323.2327880859375,
                        "y": 3081.56298828125,
                        "z": 345.84307861328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.9884580969810486,
                        "yaw": 176.8197784423828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1281.89501953125,
                        "y": 3080.04345703125,
                        "z": 347.1121520996094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.1635990142822266,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4032,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1257.9068603515625,
                        "y": 3079.507080078125,
                        "z": 348.1492004394531
                    },
                    "rotation": {
                        "roll": 6.677452368819559e-09,
                        "pitch": -2.687856912612915,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.471044540405273,
                "transform": {
                    "location": {
                        "x": -1185.095703125,
                        "y": 3077.880859375,
                        "z": 351.9019775390625
                    },
                    "rotation": {
                        "roll": 4.9242833483731374e-05,
                        "pitch": -2.7684326171875,
                        "yaw": 178.71763610839844
                    }
                },
                "velocity": {
                    "x": -16.447906494140625,
                    "y": 0.36788585782051086,
                    "z": -0.79140305519104
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.304071426391602,
                "transform": {
                    "location": {
                        "x": -1049.989013671875,
                        "y": 3057.38427734375,
                        "z": 357.10504150390625
                    },
                    "rotation": {
                        "roll": 0.035180725157260895,
                        "pitch": -2.7383456230163574,
                        "yaw": 164.45584106445312
                    }
                },
                "velocity": {
                    "x": -7.98837423324585,
                    "y": 2.230813980102539,
                    "z": -0.4085903763771057
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.060943603515625,
                "transform": {
                    "location": {
                        "x": -1067.4735107421875,
                        "y": 3062.607421875,
                        "z": 356.2874450683594
                    },
                    "rotation": {
                        "roll": -0.0022277822718024254,
                        "pitch": -2.358908176422119,
                        "yaw": 162.53736877441406
                    }
                },
                "velocity": {
                    "x": -7.68233060836792,
                    "y": 2.419053554534912,
                    "z": -0.3298327326774597
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.043792735785245895,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            14.090223939517601,
            0.5325892944600029
        ],
        "target_point_next": [
            20.268080587700553,
            -2.6430120984605967
        ]
    },
    "305": {
        "acceleration": [
            0.3085136413574219,
            -0.0034868717193603516,
            0.02251565456390381
        ],
        "angular_velocity": [
            0.22574150562286377,
            -0.1619943082332611,
            -0.1891137808561325
        ],
        "forward_vector": [
            -0.9964653849601746,
            0.07559090852737427,
            -0.03664328157901764
        ],
        "right_vector": [
            -0.07559046149253845,
            -0.9971379637718201,
            -0.0013995309127494693
        ],
        "location": [
            -1121.1102294921875,
            3072.9072265625,
            354.39288330078125
        ],
        "rotation": [
            0.0802411288022995,
            -2.0999755859375,
            175.6619110107422
        ],
        "velocity": [
            -13.019817352294922,
            0.9876543283462524,
            -0.47392722964286804
        ],
        "speed": 13.057224244050534,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 29.680387496948242,
        "front_vehicle_info": {
            "id": 4061,
            "type": "vehicle.audi.tt",
            "location": [
                -1137.097412109375,
                3097.906494140625,
                353.7829895019531
            ],
            "velocity": [
                8.167337417602539,
                -0.17241281270980835,
                0.2979585826396942
            ],
            "speed_kmh": 29.428520547311184,
            "color": "168,0,27"
        },
        "other_vehicles": [
            {
                "id": 4070,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": -1171.4305419921875,
                        "y": 3105.58251953125,
                        "z": 352.8411560058594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.4302358627319336,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 1.2486698786062789e-08,
                    "y": -2.789418140913824e-10,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4069,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1034.322509765625,
                        "y": 3081.514404296875,
                        "z": 356.5103759765625
                    },
                    "rotation": {
                        "roll": 4.168983769314849e-10,
                        "pitch": -0.5130564570426941,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.876015663146973,
                "transform": {
                    "location": {
                        "x": -1052.6453857421875,
                        "y": 3074.92236328125,
                        "z": 356.2901611328125
                    },
                    "rotation": {
                        "roll": -0.000244141963776201,
                        "pitch": -1.0405246019363403,
                        "yaw": 178.71530151367188
                    }
                },
                "velocity": {
                    "x": -13.870550155639648,
                    "y": 0.31072288751602173,
                    "z": -0.23474539816379547
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4067,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1040.97802734375,
                        "y": 3078.162353515625,
                        "z": 356.4483947753906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6442575454711914,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4066,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.0902204513549805,
                "transform": {
                    "location": {
                        "x": -1156.55322265625,
                        "y": 3094.810302734375,
                        "z": 353.08111572265625
                    },
                    "rotation": {
                        "roll": 0.02690664678812027,
                        "pitch": 2.641862392425537,
                        "yaw": -0.9028319716453552
                    }
                },
                "velocity": {
                    "x": 7.084407806396484,
                    "y": -0.1190391406416893,
                    "z": 0.2611882984638214
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.683831214904785,
                "transform": {
                    "location": {
                        "x": -1156.7783203125,
                        "y": 3098.3125,
                        "z": 353.0802307128906
                    },
                    "rotation": {
                        "roll": 0.01547018438577652,
                        "pitch": 2.044022798538208,
                        "yaw": -0.82415771484375
                    }
                },
                "velocity": {
                    "x": 5.679208278656006,
                    "y": -0.0947570875287056,
                    "z": 0.20869570970535278
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.4458045959472656,
                "transform": {
                    "location": {
                        "x": -1163.2882080078125,
                        "y": 3101.905517578125,
                        "z": 352.8293151855469
                    },
                    "rotation": {
                        "roll": 0.002575512742623687,
                        "pitch": 2.4749257564544678,
                        "yaw": -1.071838140487671
                    }
                },
                "velocity": {
                    "x": 2.4437928199768066,
                    "y": -0.031188100576400757,
                    "z": 0.09414973855018616
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4063,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.264727592468262,
                "transform": {
                    "location": {
                        "x": -1155.76171875,
                        "y": 3105.28857421875,
                        "z": 353.1094970703125
                    },
                    "rotation": {
                        "roll": 0.016382994130253792,
                        "pitch": 2.4237265586853027,
                        "yaw": -0.8344115614891052
                    }
                },
                "velocity": {
                    "x": 6.259734153747559,
                    "y": -0.0962851494550705,
                    "z": 0.2307995706796646
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4062,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.914608955383301,
                "transform": {
                    "location": {
                        "x": -1137.486328125,
                        "y": 3094.414306640625,
                        "z": 353.7818298339844
                    },
                    "rotation": {
                        "roll": 0.006198599468916655,
                        "pitch": 2.092045783996582,
                        "yaw": -1.180267333984375
                    }
                },
                "velocity": {
                    "x": 7.9076666831970215,
                    "y": -0.16443996131420135,
                    "z": 0.2877546548843384
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4061,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.174588203430176,
                "transform": {
                    "location": {
                        "x": -1137.097412109375,
                        "y": 3097.906494140625,
                        "z": 353.7829895019531
                    },
                    "rotation": {
                        "roll": 0.0045843650586903095,
                        "pitch": 2.106840133666992,
                        "yaw": -1.1828612089157104
                    }
                },
                "velocity": {
                    "x": 8.167337417602539,
                    "y": -0.17241281270980835,
                    "z": 0.2979585826396942
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4060,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.972248077392578,
                "transform": {
                    "location": {
                        "x": -1138.84765625,
                        "y": 3101.443115234375,
                        "z": 353.7614440917969
                    },
                    "rotation": {
                        "roll": 0.009459099732339382,
                        "pitch": 2.1036367416381836,
                        "yaw": -1.1326904296875
                    }
                },
                "velocity": {
                    "x": 7.96530294418335,
                    "y": -0.16320672631263733,
                    "z": 0.28991302847862244
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4059,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.319035530090332,
                "transform": {
                    "location": {
                        "x": -1136.6153564453125,
                        "y": 3104.89892578125,
                        "z": 353.8095703125
                    },
                    "rotation": {
                        "roll": 0.012597208842635155,
                        "pitch": 2.1633529663085938,
                        "yaw": -1.0745543241500854
                    }
                },
                "velocity": {
                    "x": 8.311787605285645,
                    "y": -0.16822081804275513,
                    "z": 0.30369481444358826
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4058,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1050.0867919921875,
                        "y": 3081.83203125,
                        "z": 356.3240051269531
                    },
                    "rotation": {
                        "roll": -8.338676416030921e-10,
                        "pitch": -0.9065504670143127,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4057,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.060905456542969,
                "transform": {
                    "location": {
                        "x": -1056.9610595703125,
                        "y": 3078.419677734375,
                        "z": 356.21142578125
                    },
                    "rotation": {
                        "roll": -0.0005798345664516091,
                        "pitch": -0.994106650352478,
                        "yaw": 178.73715209960938
                    }
                },
                "velocity": {
                    "x": -8.057635307312012,
                    "y": 0.17927296459674835,
                    "z": -0.14344367384910583
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.365924835205078,
                "transform": {
                    "location": {
                        "x": -1093.155517578125,
                        "y": 3075.826904296875,
                        "z": 355.3615417480469
                    },
                    "rotation": {
                        "roll": -0.0004272438236512244,
                        "pitch": -1.7616559267044067,
                        "yaw": 178.72384643554688
                    }
                },
                "velocity": {
                    "x": -16.354257583618164,
                    "y": 0.3644450008869171,
                    "z": -0.4989270567893982
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.895106315612793,
                "transform": {
                    "location": {
                        "x": -1162.3956298828125,
                        "y": 3077.374267578125,
                        "z": 352.87322998046875
                    },
                    "rotation": {
                        "roll": -0.0006713852635584772,
                        "pitch": -2.1651902198791504,
                        "yaw": 178.71331787109375
                    }
                },
                "velocity": {
                    "x": -15.87989616394043,
                    "y": 0.3534998297691345,
                    "z": -0.5986219644546509
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4034,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1327.475341796875,
                        "y": 3081.799560546875,
                        "z": 345.77081298828125
                    },
                    "rotation": {
                        "roll": 3.335353992994783e-09,
                        "pitch": -0.769775927066803,
                        "yaw": 176.5779571533203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1286.137939453125,
                        "y": 3080.139892578125,
                        "z": 346.9505310058594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.058741807937622,
                        "yaw": 178.51222229003906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4032,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1262.1480712890625,
                        "y": 3079.60205078125,
                        "z": 347.95050048828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.5830066204071045,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.474075317382812,
                "transform": {
                    "location": {
                        "x": -1189.2069091796875,
                        "y": 3077.97265625,
                        "z": 351.701171875
                    },
                    "rotation": {
                        "roll": 0.0012450465001165867,
                        "pitch": -2.8825035095214844,
                        "yaw": 178.71705627441406
                    }
                },
                "velocity": {
                    "x": -16.449758529663086,
                    "y": 0.36834174394607544,
                    "z": -0.8154478073120117
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1051.9522705078125,
                        "y": 3057.981689453125,
                        "z": 357.00823974609375
                    },
                    "rotation": {
                        "roll": 2.6709313871720042e-08,
                        "pitch": -2.6650917530059814,
                        "yaw": 163.6600341796875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.059542655944824,
                "transform": {
                    "location": {
                        "x": -1069.3941650390625,
                        "y": 3063.21337890625,
                        "z": 356.2066650390625
                    },
                    "rotation": {
                        "roll": -0.00015259986685123295,
                        "pitch": -2.2840561866760254,
                        "yaw": 162.47669982910156
                    }
                },
                "velocity": {
                    "x": -7.676909446716309,
                    "y": 2.432614326477051,
                    "z": -0.3219870626926422
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.11747971177101135,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            10.824552538783148,
            0.5346705257450279
        ],
        "target_point_next": [
            17.00281041250024,
            -2.640150196448638
        ]
    },
    "310": {
        "acceleration": [
            -0.07154464721679688,
            0.12571334838867188,
            -0.01713097095489502
        ],
        "angular_velocity": [
            0.1311720609664917,
            -0.002257297281175852,
            -0.5396003723144531
        ],
        "forward_vector": [
            -0.9963405728340149,
            0.07704709470272064,
            -0.03700245916843414
        ],
        "right_vector": [
            -0.07701937109231949,
            -0.9970271587371826,
            -0.0021759909577667713
        ],
        "location": [
            -1124.36083984375,
            3073.15576171875,
            354.2742919921875
        ],
        "rotation": [
            0.12476062774658203,
            -2.1205687522888184,
            175.57810974121094
        ],
        "velocity": [
            -12.99665641784668,
            1.00710129737854,
            -0.47512808442115784
        ],
        "speed": 13.035617786155623,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.937904357910156,
        "front_vehicle_info": {
            "id": 4061,
            "type": "vehicle.audi.tt",
            "location": [
                -1135.08251953125,
                3097.864501953125,
                353.8565979003906
            ],
            "velocity": [
                7.943885326385498,
                -0.16649949550628662,
                0.28972339630126953
            ],
            "speed_kmh": 28.623277353587902,
            "color": "168,0,27"
        },
        "other_vehicles": [
            {
                "id": 4073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1027.2823486328125,
                        "y": 3077.8564453125,
                        "z": 356.5712890625
                    },
                    "rotation": {
                        "roll": 1.2506727875560841e-09,
                        "pitch": -0.38189634680747986,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4072,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9600002765655518,
                "transform": {
                    "location": {
                        "x": -1171.5867919921875,
                        "y": 3098.584228515625,
                        "z": 352.6893005371094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.4302358627319336,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 1.7778121730316343e-07,
                    "y": -3.971475148745185e-09,
                    "z": -1.9600002765655518
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4071,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.1007399559020996,
                "transform": {
                    "location": {
                        "x": -1171.664306640625,
                        "y": 3095.085205078125,
                        "z": 352.5801086425781
                    },
                    "rotation": {
                        "roll": -3.051985549973324e-05,
                        "pitch": 2.4309120178222656,
                        "yaw": -1.279601812362671
                    }
                },
                "velocity": {
                    "x": 0.08563850820064545,
                    "y": -0.0017001458909362555,
                    "z": -2.0989930629730225
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4070,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.45574015378952026,
                "transform": {
                    "location": {
                        "x": -1171.4261474609375,
                        "y": 3105.58251953125,
                        "z": 352.4446716308594
                    },
                    "rotation": {
                        "roll": -0.0001831056288210675,
                        "pitch": 2.4298055171966553,
                        "yaw": -1.2794800996780396
                    }
                },
                "velocity": {
                    "x": 0.019163217395544052,
                    "y": -0.0006139090983197093,
                    "z": -0.45533666014671326
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4069,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1036.404541015625,
                        "y": 3081.560791015625,
                        "z": 356.4933776855469
                    },
                    "rotation": {
                        "roll": 4.168983769314849e-10,
                        "pitch": -0.5130564570426941,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.799281120300293,
                "transform": {
                    "location": {
                        "x": -1055.6893310546875,
                        "y": 3074.990478515625,
                        "z": 356.2452697753906
                    },
                    "rotation": {
                        "roll": -0.0007019066833890975,
                        "pitch": -1.6980259418487549,
                        "yaw": 178.74160766601562
                    }
                },
                "velocity": {
                    "x": -10.795108795166016,
                    "y": 0.2422569841146469,
                    "z": -0.17727206647396088
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4067,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1042.992431640625,
                        "y": 3078.206787109375,
                        "z": 356.4248352050781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7753903269767761,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4066,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.956644058227539,
                "transform": {
                    "location": {
                        "x": -1154.621826171875,
                        "y": 3094.77783203125,
                        "z": 353.15185546875
                    },
                    "rotation": {
                        "roll": 0.0204315148293972,
                        "pitch": 2.6046857833862305,
                        "yaw": -0.9659727811813354
                    }
                },
                "velocity": {
                    "x": 7.950193881988525,
                    "y": -0.1363193243741989,
                    "z": 0.28986895084381104
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.144780158996582,
                "transform": {
                    "location": {
                        "x": -1155.1983642578125,
                        "y": 3098.286376953125,
                        "z": 353.13909912109375
                    },
                    "rotation": {
                        "roll": 0.01294561568647623,
                        "pitch": 1.933892846107483,
                        "yaw": -0.8958433866500854
                    }
                },
                "velocity": {
                    "x": 7.13905143737793,
                    "y": -0.11986467987298965,
                    "z": 0.2597394585609436
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.381232261657715,
                "transform": {
                    "location": {
                        "x": -1162.428466796875,
                        "y": 3101.893798828125,
                        "z": 352.861328125
                    },
                    "rotation": {
                        "roll": 0.006727783940732479,
                        "pitch": 2.623830795288086,
                        "yaw": -0.9351194500923157
                    }
                },
                "velocity": {
                    "x": 4.377636432647705,
                    "y": -0.05414281412959099,
                    "z": 0.16900397837162018
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4063,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.366916656494141,
                "transform": {
                    "location": {
                        "x": -1154.0035400390625,
                        "y": 3105.261474609375,
                        "z": 353.1739501953125
                    },
                    "rotation": {
                        "roll": 0.01716044545173645,
                        "pitch": 2.388284683227539,
                        "yaw": -0.8320922255516052
                    }
                },
                "velocity": {
                    "x": 7.361213207244873,
                    "y": -0.11326763033866882,
                    "z": 0.26678675413131714
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4062,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.119524002075195,
                "transform": {
                    "location": {
                        "x": -1135.4754638671875,
                        "y": 3094.372314453125,
                        "z": 353.8551025390625
                    },
                    "rotation": {
                        "roll": 0.0040098195895552635,
                        "pitch": 2.122044086456299,
                        "yaw": -1.197265625
                    }
                },
                "velocity": {
                    "x": 8.11235237121582,
                    "y": -0.17057347297668457,
                    "z": 0.2954649031162262
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4061,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.9509100914001465,
                "transform": {
                    "location": {
                        "x": -1135.08251953125,
                        "y": 3097.864501953125,
                        "z": 353.8565979003906
                    },
                    "rotation": {
                        "roll": 0.003023262368515134,
                        "pitch": 2.088214159011841,
                        "yaw": -1.2021178007125854
                    }
                },
                "velocity": {
                    "x": 7.943885326385498,
                    "y": -0.16649949550628662,
                    "z": 0.28972339630126953
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4060,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.13238525390625,
                "transform": {
                    "location": {
                        "x": -1136.8172607421875,
                        "y": 3101.401611328125,
                        "z": 353.8354187011719
                    },
                    "rotation": {
                        "roll": 0.0058030677028000355,
                        "pitch": 2.111600637435913,
                        "yaw": -1.183349609375
                    }
                },
                "velocity": {
                    "x": 8.125202178955078,
                    "y": -0.17018172144889832,
                    "z": 0.29635360836982727
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4059,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.905936241149902,
                "transform": {
                    "location": {
                        "x": -1134.5975341796875,
                        "y": 3104.8583984375,
                        "z": 353.8847961425781
                    },
                    "rotation": {
                        "roll": 0.006956635043025017,
                        "pitch": 1.9600319862365723,
                        "yaw": -1.20819091796875
                    }
                },
                "velocity": {
                    "x": 7.898911952972412,
                    "y": -0.16769269108772278,
                    "z": 0.28792187571525574
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4058,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1052.168212890625,
                        "y": 3081.911865234375,
                        "z": 356.29510498046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.03775155544281,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4057,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.060378074645996,
                "transform": {
                    "location": {
                        "x": -1058.974609375,
                        "y": 3078.464599609375,
                        "z": 356.1754455566406
                    },
                    "rotation": {
                        "roll": -6.103468331275508e-05,
                        "pitch": -1.0737261772155762,
                        "yaw": 178.7076873779297
                    }
                },
                "velocity": {
                    "x": -8.057117462158203,
                    "y": 0.1792226880788803,
                    "z": -0.14290961623191833
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.36566925048828,
                "transform": {
                    "location": {
                        "x": -1097.2432861328125,
                        "y": 3075.91845703125,
                        "z": 355.2347106933594
                    },
                    "rotation": {
                        "roll": 0.00011503851419547573,
                        "pitch": -1.838618516921997,
                        "yaw": 178.71861267089844
                    }
                },
                "velocity": {
                    "x": -16.353374481201172,
                    "y": 0.3657485544681549,
                    "z": -0.5181873440742493
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.901519775390625,
                "transform": {
                    "location": {
                        "x": -1166.365234375,
                        "y": 3077.463134765625,
                        "z": 352.7180480957031
                    },
                    "rotation": {
                        "roll": -0.0010681143030524254,
                        "pitch": -2.3069167137145996,
                        "yaw": 178.7198028564453
                    }
                },
                "velocity": {
                    "x": -15.884723663330078,
                    "y": 0.3572346866130829,
                    "z": -0.6373973488807678
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1290.380859375,
                        "y": 3080.243408203125,
                        "z": 346.79608154296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.058741807937622,
                        "yaw": 178.51222229003906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4032,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1266.3895263671875,
                        "y": 3079.69677734375,
                        "z": 347.7579650878906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.478149652481079,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.47796630859375,
                "transform": {
                    "location": {
                        "x": -1193.318359375,
                        "y": 3078.064697265625,
                        "z": 351.4931945800781
                    },
                    "rotation": {
                        "roll": -0.001342768780887127,
                        "pitch": -3.0112595558166504,
                        "yaw": 178.72230529785156
                    }
                },
                "velocity": {
                    "x": -16.45195960998535,
                    "y": 0.3672650158405304,
                    "z": -0.8494234085083008
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1053.9232177734375,
                        "y": 3058.55908203125,
                        "z": 356.9113464355469
                    },
                    "rotation": {
                        "roll": 2.6709313871720042e-08,
                        "pitch": -2.6650917530059814,
                        "yaw": 163.6600341796875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.061674118041992,
                "transform": {
                    "location": {
                        "x": -1071.3135986328125,
                        "y": 3063.822998046875,
                        "z": 356.1270751953125
                    },
                    "rotation": {
                        "roll": -0.0007934808381833136,
                        "pitch": -2.262718677520752,
                        "yaw": 162.3795623779297
                    }
                },
                "velocity": {
                    "x": -7.676651954650879,
                    "y": 2.4415125846862793,
                    "z": -0.31404799222946167
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.20571905374526978,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            7.56366249690589,
            0.5476753764401839
        ],
        "target_point_next": [
            13.74655680890707,
            -2.618106501523144
        ]
    },
    "315": {
        "acceleration": [
            0.2338409423828125,
            -0.3527963161468506,
            0.011063814163208008
        ],
        "angular_velocity": [
            -0.3442489802837372,
            -0.03849507123231888,
            1.7501789331436157
        ],
        "forward_vector": [
            -0.9966099262237549,
            0.07346479594707489,
            -0.03703342750668526
        ],
        "right_vector": [
            -0.07347774505615234,
            -0.9972962737083435,
            -0.0010132059687748551
        ],
        "location": [
            -1127.6094970703125,
            3073.400634765625,
            354.15570068359375
        ],
        "rotation": [
            0.05809228494763374,
            -2.122344493865967,
            175.78408813476562
        ],
        "velocity": [
            -12.986997604370117,
            0.9378012418746948,
            -0.4743589758872986
        ],
        "speed": 13.020813259745985,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.029640197753906,
        "front_vehicle_info": {
            "id": 4061,
            "type": "vehicle.audi.tt",
            "location": [
                -1133.0892333984375,
                3097.822021484375,
                353.92926025390625
            ],
            "velocity": [
                8.0451078414917,
                -0.17582617700099945,
                0.29349926114082336
            ],
            "speed_kmh": 28.98856647495425,
            "color": "168,0,27"
        },
        "other_vehicles": [
            {
                "id": 4073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1029.2967529296875,
                        "y": 3077.901123046875,
                        "z": 356.5528564453125
                    },
                    "rotation": {
                        "roll": 1.2506727875560841e-09,
                        "pitch": -0.38189634680747986,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4072,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.1310454159975052,
                "transform": {
                    "location": {
                        "x": -1171.5810546875,
                        "y": 3098.584228515625,
                        "z": 352.43377685546875
                    },
                    "rotation": {
                        "roll": -0.0010681158164516091,
                        "pitch": 2.404533863067627,
                        "yaw": -1.2794493436813354
                    }
                },
                "velocity": {
                    "x": -0.0056304833851754665,
                    "y": 7.936901965877041e-05,
                    "z": 0.13092438876628876
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4071,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.13981401920318604,
                "transform": {
                    "location": {
                        "x": -1171.6607666015625,
                        "y": 3095.085205078125,
                        "z": 352.4971923828125
                    },
                    "rotation": {
                        "roll": 0.0004874232108704746,
                        "pitch": 2.4312398433685303,
                        "yaw": -1.279449462890625
                    }
                },
                "velocity": {
                    "x": -0.00599413737654686,
                    "y": 0.0002643199113663286,
                    "z": 0.13968521356582642
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4070,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.13418269157409668,
                "transform": {
                    "location": {
                        "x": -1171.4268798828125,
                        "y": 3105.58251953125,
                        "z": 352.46026611328125
                    },
                    "rotation": {
                        "roll": 0.0014512166380882263,
                        "pitch": 2.4290268421173096,
                        "yaw": -1.279327392578125
                    }
                },
                "velocity": {
                    "x": -0.005747345741838217,
                    "y": 8.009035082068294e-05,
                    "z": 0.13405951857566833
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4069,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1038.487060546875,
                        "y": 3081.606689453125,
                        "z": 356.4724426269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6442575454711914,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 11.611200332641602,
                "transform": {
                    "location": {
                        "x": -1058.46484375,
                        "y": 3075.052734375,
                        "z": 356.1922607421875
                    },
                    "rotation": {
                        "roll": -3.0517025152221322e-05,
                        "pitch": -1.0838006734848022,
                        "yaw": 178.7494354248047
                    }
                },
                "velocity": {
                    "x": -11.606447219848633,
                    "y": 0.25785982608795166,
                    "z": -0.2094414085149765
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4067,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1045.0069580078125,
                        "y": 3078.251708984375,
                        "z": 356.39971923828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7753903269767761,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4066,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.54106616973877,
                "transform": {
                    "location": {
                        "x": -1152.49462890625,
                        "y": 3094.73876953125,
                        "z": 353.2298278808594
                    },
                    "rotation": {
                        "roll": 0.027416717261075974,
                        "pitch": 2.4740378856658936,
                        "yaw": -1.072723388671875
                    }
                },
                "velocity": {
                    "x": 8.533802032470703,
                    "y": -0.1654500663280487,
                    "z": 0.3109019100666046
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.161301612854004,
                "transform": {
                    "location": {
                        "x": -1153.265625,
                        "y": 3098.25341796875,
                        "z": 353.2091979980469
                    },
                    "rotation": {
                        "roll": 0.005104179494082928,
                        "pitch": 1.9669303894042969,
                        "yaw": -0.9861451387405396
                    }
                },
                "velocity": {
                    "x": 8.154348373413086,
                    "y": -0.15905968844890594,
                    "z": 0.2968979477882385
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.136390209197998,
                "transform": {
                    "location": {
                        "x": -1161.1578369140625,
                        "y": 3101.877197265625,
                        "z": 352.91168212890625
                    },
                    "rotation": {
                        "roll": 0.013315585441887379,
                        "pitch": 2.474515914916992,
                        "yaw": -0.8064879179000854
                    }
                },
                "velocity": {
                    "x": 5.13224983215332,
                    "y": -0.061347052454948425,
                    "z": 0.19685249030590057
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4063,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.601119995117188,
                "transform": {
                    "location": {
                        "x": -1151.9822998046875,
                        "y": 3105.22705078125,
                        "z": 353.2474060058594
                    },
                    "rotation": {
                        "roll": 0.027425149455666542,
                        "pitch": 2.377486228942871,
                        "yaw": -0.9775694608688354
                    }
                },
                "velocity": {
                    "x": 8.593965530395508,
                    "y": -0.15825395286083221,
                    "z": 0.3130047619342804
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4062,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.990248680114746,
                "transform": {
                    "location": {
                        "x": -1133.4637451171875,
                        "y": 3094.32958984375,
                        "z": 353.928466796875
                    },
                    "rotation": {
                        "roll": 0.0035251695662736893,
                        "pitch": 2.093480110168457,
                        "yaw": -1.2216795682907104
                    }
                },
                "velocity": {
                    "x": 7.983083248138428,
                    "y": -0.17220541834831238,
                    "z": 0.2911958694458008
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4061,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.052379608154297,
                "transform": {
                    "location": {
                        "x": -1133.0892333984375,
                        "y": 3097.822021484375,
                        "z": 353.92926025390625
                    },
                    "rotation": {
                        "roll": 0.0027638052124530077,
                        "pitch": 2.0951876640319824,
                        "yaw": -1.224823236465454
                    }
                },
                "velocity": {
                    "x": 8.0451078414917,
                    "y": -0.17582617700099945,
                    "z": 0.29349926114082336
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4060,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.8862996101379395,
                "transform": {
                    "location": {
                        "x": -1134.8243408203125,
                        "y": 3101.359619140625,
                        "z": 353.9083557128906
                    },
                    "rotation": {
                        "roll": 0.004690050613135099,
                        "pitch": 2.0828797817230225,
                        "yaw": -1.199066162109375
                    }
                },
                "velocity": {
                    "x": 7.879344463348389,
                    "y": -0.16477322578430176,
                    "z": 0.2872332036495209
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4059,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.983587741851807,
                "transform": {
                    "location": {
                        "x": -1132.623779296875,
                        "y": 3104.81591796875,
                        "z": 353.9556884765625
                    },
                    "rotation": {
                        "roll": 0.005500088911503553,
                        "pitch": 2.0863630771636963,
                        "yaw": -1.23699951171875
                    }
                },
                "velocity": {
                    "x": 7.976384162902832,
                    "y": -0.17487342655658722,
                    "z": 0.29049912095069885
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4058,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1054.250732421875,
                        "y": 3081.959228515625,
                        "z": 356.2595520019531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.03775155544281,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4057,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.060516357421875,
                "transform": {
                    "location": {
                        "x": -1060.9888916015625,
                        "y": 3078.509521484375,
                        "z": 356.1379699707031
                    },
                    "rotation": {
                        "roll": -0.0011291501577943563,
                        "pitch": -1.0820248126983643,
                        "yaw": 178.73939514160156
                    }
                },
                "velocity": {
                    "x": -8.057110786437988,
                    "y": 0.17919179797172546,
                    "z": -0.15090671181678772
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.367271423339844,
                "transform": {
                    "location": {
                        "x": -1101.3311767578125,
                        "y": 3076.010009765625,
                        "z": 355.1013488769531
                    },
                    "rotation": {
                        "roll": -0.0006408682675100863,
                        "pitch": -1.8973103761672974,
                        "yaw": 178.71861267089844
                    }
                },
                "velocity": {
                    "x": -16.354246139526367,
                    "y": 0.3658204674720764,
                    "z": -0.5407518148422241
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.907482147216797,
                "transform": {
                    "location": {
                        "x": -1170.33642578125,
                        "y": 3077.551513671875,
                        "z": 352.5559997558594
                    },
                    "rotation": {
                        "roll": -0.001525877509266138,
                        "pitch": -2.408536195755005,
                        "yaw": 178.72840881347656
                    }
                },
                "velocity": {
                    "x": -15.889601707458496,
                    "y": 0.35295575857162476,
                    "z": -0.6662992835044861
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1294.626220703125,
                        "y": 3080.362548828125,
                        "z": 346.64935302734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9539121389389038,
                        "yaw": 178.27044677734375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4032,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1270.633056640625,
                        "y": 3079.791748046875,
                        "z": 347.57171630859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.478149652481079,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.4813232421875,
                "transform": {
                    "location": {
                        "x": -1197.4307861328125,
                        "y": 3078.156494140625,
                        "z": 351.27777099609375
                    },
                    "rotation": {
                        "roll": -0.00045776620390824974,
                        "pitch": -3.1015000343322754,
                        "yaw": 178.72003173828125
                    }
                },
                "velocity": {
                    "x": -16.45391082763672,
                    "y": 0.3675898611545563,
                    "z": -0.8761937618255615
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1055.920166015625,
                        "y": 3059.144287109375,
                        "z": 356.8133239746094
                    },
                    "rotation": {
                        "roll": 2.6709313871720042e-08,
                        "pitch": -2.6650917530059814,
                        "yaw": 163.6600341796875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.057587623596191,
                "transform": {
                    "location": {
                        "x": -1073.232421875,
                        "y": 3064.43408203125,
                        "z": 356.0492858886719
                    },
                    "rotation": {
                        "roll": -0.00253297109156847,
                        "pitch": -2.2228643894195557,
                        "yaw": 162.34056091308594
                    }
                },
                "velocity": {
                    "x": -7.672174453735352,
                    "y": 2.44266939163208,
                    "z": -0.3095409572124481
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.16773606836795807,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            10.479187675175483,
            -2.66212066122655
        ],
        "target_point_next": [
            61.412132522271484,
            -0.04964097101832454
        ]
    },
    "320": {
        "acceleration": [
            0.3212165832519531,
            -0.529172420501709,
            0.02150893211364746
        ],
        "angular_velocity": [
            -0.3237214982509613,
            -0.08976492285728455,
            2.312924861907959
        ],
        "forward_vector": [
            -0.9972344636917114,
            0.06415504217147827,
            -0.03751720115542412
        ],
        "right_vector": [
            -0.06422071903944016,
            -0.9979355335235596,
            0.0005471603944897652
        ],
        "location": [
            -1130.8446044921875,
            3073.620849609375,
            354.03765869140625
        ],
        "rotation": [
            -0.0313720665872097,
            -2.1500818729400635,
            176.31906127929688
        ],
        "velocity": [
            -12.892809867858887,
            0.8144077658653259,
            -0.47065916657447815
        ],
        "speed": 12.918506349337033,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -6,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4073,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1031.3109130859375,
                        "y": 3077.946533203125,
                        "z": 356.53448486328125
                    },
                    "rotation": {
                        "roll": 1.2506727875560841e-09,
                        "pitch": -0.38189634680747986,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4072,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.13228781521320343,
                "transform": {
                    "location": {
                        "x": -1171.5831298828125,
                        "y": 3098.584228515625,
                        "z": 352.48486328125
                    },
                    "rotation": {
                        "roll": -0.0013122588861733675,
                        "pitch": 2.408754825592041,
                        "yaw": -1.2793885469436646
                    }
                },
                "velocity": {
                    "x": -0.005669877864420414,
                    "y": 0.00013614387717097998,
                    "z": 0.13216617703437805
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4071,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.8630430698394775,
                "transform": {
                    "location": {
                        "x": -1171.600341796875,
                        "y": 3095.084228515625,
                        "z": 352.52294921875
                    },
                    "rotation": {
                        "roll": -0.001525878207758069,
                        "pitch": 2.5012218952178955,
                        "yaw": -1.25433349609375
                    }
                },
                "velocity": {
                    "x": 0.8589107394218445,
                    "y": -0.00721479207277298,
                    "z": 0.08404559642076492
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4070,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.2328109741210938,
                "transform": {
                    "location": {
                        "x": -1171.2005615234375,
                        "y": 3105.57861328125,
                        "z": 352.4880676269531
                    },
                    "rotation": {
                        "roll": 0.005269402638077736,
                        "pitch": 2.4882445335388184,
                        "yaw": -1.0918883085250854
                    }
                },
                "velocity": {
                    "x": 1.230146050453186,
                    "y": -0.012084889225661755,
                    "z": 0.08010946214199066
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4069,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1040.569580078125,
                        "y": 3081.653564453125,
                        "z": 356.45159912109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6442575454711914,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 12.551615715026855,
                "transform": {
                    "location": {
                        "x": -1061.521240234375,
                        "y": 3075.120361328125,
                        "z": 356.1326904296875
                    },
                    "rotation": {
                        "roll": -0.0034179682843387127,
                        "pitch": -0.743438720703125,
                        "yaw": 178.7568817138672
                    }
                },
                "velocity": {
                    "x": -12.546304702758789,
                    "y": 0.2757079005241394,
                    "z": -0.23933762311935425
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4067,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1047.0211181640625,
                        "y": 3078.29736328125,
                        "z": 356.37322998046875
                    },
                    "rotation": {
                        "roll": -8.338676416030921e-10,
                        "pitch": -0.9065504670143127,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4066,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.090085983276367,
                "transform": {
                    "location": {
                        "x": -1150.4384765625,
                        "y": 3094.698486328125,
                        "z": 353.3060607910156
                    },
                    "rotation": {
                        "roll": 0.016693739220499992,
                        "pitch": 2.107058525085449,
                        "yaw": -1.1332093477249146
                    }
                },
                "velocity": {
                    "x": 8.0831298828125,
                    "y": -0.159928560256958,
                    "z": 0.29482391476631165
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.036200523376465,
                "transform": {
                    "location": {
                        "x": -1151.2257080078125,
                        "y": 3098.214111328125,
                        "z": 353.28271484375
                    },
                    "rotation": {
                        "roll": 0.004506330005824566,
                        "pitch": 2.065462827682495,
                        "yaw": -1.0969847440719604
                    }
                },
                "velocity": {
                    "x": 8.029278755187988,
                    "y": -0.1600629985332489,
                    "z": 0.2925522029399872
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.166940689086914,
                "transform": {
                    "location": {
                        "x": -1159.5997314453125,
                        "y": 3101.858154296875,
                        "z": 352.9704284667969
                    },
                    "rotation": {
                        "roll": 0.018222736194729805,
                        "pitch": 2.4553983211517334,
                        "yaw": -0.6903076767921448
                    }
                },
                "velocity": {
                    "x": 7.161460876464844,
                    "y": -0.08261966705322266,
                    "z": 0.26775652170181274
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4063,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.020312309265137,
                "transform": {
                    "location": {
                        "x": -1149.9117431640625,
                        "y": 3105.18896484375,
                        "z": 353.32574462890625
                    },
                    "rotation": {
                        "roll": 0.013445617631077766,
                        "pitch": 2.0330398082733154,
                        "yaw": -1.1012572050094604
                    }
                },
                "velocity": {
                    "x": 8.01346206665039,
                    "y": -0.15577523410320282,
                    "z": 0.29250988364219666
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4062,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.036797523498535,
                "transform": {
                    "location": {
                        "x": -1131.4652099609375,
                        "y": 3094.2861328125,
                        "z": 354.0013122558594
                    },
                    "rotation": {
                        "roll": 0.0029345557559281588,
                        "pitch": 2.1049411296844482,
                        "yaw": -1.24896240234375
                    }
                },
                "velocity": {
                    "x": 8.02956771850586,
                    "y": -0.1756705641746521,
                    "z": 0.2920586168766022
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4061,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.02275276184082,
                "transform": {
                    "location": {
                        "x": -1131.0770263671875,
                        "y": 3097.778076171875,
                        "z": 354.00262451171875
                    },
                    "rotation": {
                        "roll": 0.0024323249235749245,
                        "pitch": 2.0954747200012207,
                        "yaw": -1.2539061307907104
                    }
                },
                "velocity": {
                    "x": 8.015522003173828,
                    "y": -0.17545802891254425,
                    "z": 0.291850745677948
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4060,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.083596229553223,
                "transform": {
                    "location": {
                        "x": -1132.830810546875,
                        "y": 3101.3173828125,
                        "z": 353.98077392578125
                    },
                    "rotation": {
                        "roll": 0.004590186290442944,
                        "pitch": 2.1077075004577637,
                        "yaw": -1.2218931913375854
                    }
                },
                "velocity": {
                    "x": 8.076336860656738,
                    "y": -0.17600364983081818,
                    "z": 0.2938109338283539
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4058,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1056.333251953125,
                        "y": 3082.006103515625,
                        "z": 356.22418212890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.03775155544281,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4057,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.060765266418457,
                "transform": {
                    "location": {
                        "x": -1063.0029296875,
                        "y": 3078.5546875,
                        "z": 356.09967041015625
                    },
                    "rotation": {
                        "roll": 0.0008343113004229963,
                        "pitch": -1.1024402379989624,
                        "yaw": 178.70799255371094
                    }
                },
                "velocity": {
                    "x": -8.05727481842041,
                    "y": 0.1803748905658722,
                    "z": -0.1540304273366928
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.37042236328125,
                "transform": {
                    "location": {
                        "x": -1105.4188232421875,
                        "y": 3076.10107421875,
                        "z": 354.9619445800781
                    },
                    "rotation": {
                        "roll": -6.103519990574569e-05,
                        "pitch": -2.041625499725342,
                        "yaw": 178.72048950195312
                    }
                },
                "velocity": {
                    "x": -16.35617446899414,
                    "y": 0.36659327149391174,
                    "z": -0.5761007070541382
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.14773178100586,
                "transform": {
                    "location": {
                        "x": -1174.3262939453125,
                        "y": 3077.64013671875,
                        "z": 352.38623046875
                    },
                    "rotation": {
                        "roll": -0.00018310561426915228,
                        "pitch": -2.4540390968322754,
                        "yaw": 178.72511291503906
                    }
                },
                "velocity": {
                    "x": -16.128293991088867,
                    "y": 0.35893166065216064,
                    "z": -0.706072211265564
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1298.871826171875,
                        "y": 3080.498291015625,
                        "z": 346.50750732421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9224181175231934,
                        "yaw": 178.02867126464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4032,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1274.8780517578125,
                        "y": 3079.88671875,
                        "z": 347.3931884765625
                    },
                    "rotation": {
                        "roll": -1.6689581938678089e-09,
                        "pitch": -2.3733267784118652,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1201.673583984375,
                        "y": 3078.25146484375,
                        "z": 351.0502014160156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.154447555541992,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4029,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1057.8885498046875,
                        "y": 3059.72998046875,
                        "z": 356.71990966796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.529874563217163,
                        "yaw": 163.08712768554688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4028,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.060162544250488,
                "transform": {
                    "location": {
                        "x": -1075.1541748046875,
                        "y": 3065.036865234375,
                        "z": 355.9728088378906
                    },
                    "rotation": {
                        "roll": -0.045776400715112686,
                        "pitch": -2.1382453441619873,
                        "yaw": 162.6225128173828
                    }
                },
                "velocity": {
                    "x": -7.692158222198486,
                    "y": 2.388946056365967,
                    "z": -0.29978376626968384
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.8518316149711609,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            7.211303818168448,
            -2.747780422186997
        ],
        "target_point_next": [
            58.16642078347772,
            -0.6109659752295591
        ]
    },
    "325": {
        "acceleration": [
            0.3588294982910156,
            0.284808874130249,
            0.03437638282775879
        ],
        "angular_velocity": [
            0.6037628054618835,
            -0.035468362271785736,
            -1.3383252620697021
        ],
        "forward_vector": [
            -0.9974027276039124,
            0.06140553206205368,
            -0.037645500153303146
        ],
        "right_vector": [
            -0.06142463535070419,
            -0.9981114864349365,
            -0.0006499487208202481
        ],
        "location": [
            -1134.054931640625,
            3073.8212890625,
            353.92047119140625
        ],
        "rotation": [
            0.03726573660969734,
            -2.157438039779663,
            176.4770050048828
        ],
        "velocity": [
            -12.803754806518555,
            0.8142722249031067,
            -0.4669850766658783
        ],
        "speed": 12.829621054485422,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 6,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1209.431884765625,
                        "y": 3106.43115234375,
                        "z": 350.6645202636719
                    },
                    "rotation": {
                        "roll": -3.340083987168896e-09,
                        "pitch": 3.1450560092926025,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4076,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1209.510009765625,
                        "y": 3102.932373046875,
                        "z": 350.6645202636719
                    },
                    "rotation": {
                        "roll": -3.340083987168896e-09,
                        "pitch": 3.1450560092926025,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4075,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1209.588134765625,
                        "y": 3099.433349609375,
                        "z": 350.6645202636719
                    },
                    "rotation": {
                        "roll": -3.340083987168896e-09,
                        "pitch": 3.1450560092926025,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4074,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1209.6663818359375,
                        "y": 3095.93408203125,
                        "z": 350.6645202636719
                    },
                    "rotation": {
                        "roll": -3.340083987168896e-09,
                        "pitch": 3.1450560092926025,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.706960678100586,
                "transform": {
                    "location": {
                        "x": -1171.4610595703125,
                        "y": 3098.583251953125,
                        "z": 352.5040283203125
                    },
                    "rotation": {
                        "roll": 0.006494998466223478,
                        "pitch": 2.2673768997192383,
                        "yaw": -1.240082025527954
                    }
                },
                "velocity": {
                    "x": 1.7050672769546509,
                    "y": -0.013019315898418427,
                    "z": 0.07931376993656158
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4071,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.7610502243041992,
                "transform": {
                    "location": {
                        "x": -1171.2540283203125,
                        "y": 3095.08056640625,
                        "z": 352.5427551269531
                    },
                    "rotation": {
                        "roll": 0.0032983794808387756,
                        "pitch": 2.5273678302764893,
                        "yaw": -1.136077880859375
                    }
                },
                "velocity": {
                    "x": 1.7590256929397583,
                    "y": -0.014541937969624996,
                    "z": 0.08315789699554443
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4070,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.0486490726470947,
                "transform": {
                    "location": {
                        "x": -1170.826904296875,
                        "y": 3105.57470703125,
                        "z": 352.5068359375
                    },
                    "rotation": {
                        "roll": 0.014273298904299736,
                        "pitch": 2.4825003147125244,
                        "yaw": -0.90179443359375
                    }
                },
                "velocity": {
                    "x": 2.0465638637542725,
                    "y": -0.02026277966797352,
                    "z": 0.09016051888465881
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.449466705322266,
                "transform": {
                    "location": {
                        "x": -1064.894775390625,
                        "y": 3075.19482421875,
                        "z": 356.0671081542969
                    },
                    "rotation": {
                        "roll": 0.00039236803422681987,
                        "pitch": -0.716917097568512,
                        "yaw": 178.7454071044922
                    }
                },
                "velocity": {
                    "x": -14.443211555480957,
                    "y": 0.3192327916622162,
                    "z": -0.2807433307170868
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4066,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.262240409851074,
                "transform": {
                    "location": {
                        "x": -1148.5428466796875,
                        "y": 3094.66015625,
                        "z": 353.3760070800781
                    },
                    "rotation": {
                        "roll": 0.016101907938718796,
                        "pitch": 1.8894009590148926,
                        "yaw": -1.163238525390625
                    }
                },
                "velocity": {
                    "x": 7.255859375,
                    "y": -0.15086646378040314,
                    "z": 0.2643492519855499
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.951026916503906,
                "transform": {
                    "location": {
                        "x": -1149.2393798828125,
                        "y": 3098.174560546875,
                        "z": 353.3549499511719
                    },
                    "rotation": {
                        "roll": 0.004655337892472744,
                        "pitch": 2.0907208919525146,
                        "yaw": -1.1334840059280396
                    }
                },
                "velocity": {
                    "x": 7.944174766540527,
                    "y": -0.1572793871164322,
                    "z": 0.29013878107070923
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.16478157043457,
                "transform": {
                    "location": {
                        "x": -1157.6942138671875,
                        "y": 3101.83203125,
                        "z": 353.04132080078125
                    },
                    "rotation": {
                        "roll": 0.03835084289312363,
                        "pitch": 2.419696807861328,
                        "yaw": -0.7403563857078552
                    }
                },
                "velocity": {
                    "x": 8.158294677734375,
                    "y": -0.12503647804260254,
                    "z": 0.30041345953941345
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4063,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.856451511383057,
                "transform": {
                    "location": {
                        "x": -1147.9459228515625,
                        "y": 3105.150146484375,
                        "z": 353.39764404296875
                    },
                    "rotation": {
                        "roll": 0.01132444478571415,
                        "pitch": 2.000234365463257,
                        "yaw": -1.1643065214157104
                    }
                },
                "velocity": {
                    "x": 7.849553108215332,
                    "y": -0.16238798201084137,
                    "z": 0.2863163948059082
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4060,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.991028785705566,
                "transform": {
                    "location": {
                        "x": -1130.818359375,
                        "y": 3101.273681640625,
                        "z": 354.0542907714844
                    },
                    "rotation": {
                        "roll": 0.001279672491364181,
                        "pitch": 2.09627366065979,
                        "yaw": -1.252746343612671
                    }
                },
                "velocity": {
                    "x": 7.983739852905273,
                    "y": -0.17669318616390228,
                    "z": 0.2919344902038574
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.37172508239746,
                "transform": {
                    "location": {
                        "x": -1109.5078125,
                        "y": 3076.1923828125,
                        "z": 354.8163146972656
                    },
                    "rotation": {
                        "roll": -0.0014648440992459655,
                        "pitch": -2.062833070755005,
                        "yaw": 178.72181701660156
                    }
                },
                "velocity": {
                    "x": -16.357133865356445,
                    "y": 0.363716185092926,
                    "z": -0.5876043438911438
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.448345184326172,
                "transform": {
                    "location": {
                        "x": -1178.4051513671875,
                        "y": 3077.7314453125,
                        "z": 352.20550537109375
                    },
                    "rotation": {
                        "roll": 8.18669141153805e-05,
                        "pitch": -2.555419445037842,
                        "yaw": 178.71624755859375
                    }
                },
                "velocity": {
                    "x": -16.42771339416504,
                    "y": 0.3676760494709015,
                    "z": -0.7369298338890076
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1303.1168212890625,
                        "y": 3080.64892578125,
                        "z": 346.36669921875
                    },
                    "rotation": {
                        "roll": -3.3368174889858437e-09,
                        "pitch": -1.8632686138153076,
                        "yaw": 177.78689575195312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4032,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1279.1231689453125,
                        "y": 3079.9814453125,
                        "z": 347.2207336425781
                    },
                    "rotation": {
                        "roll": -1.6688344040005632e-09,
                        "pitch": -2.268462896347046,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1205.9161376953125,
                        "y": 3078.34619140625,
                        "z": 350.8177185058594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.1450493335723877,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.9984143972396851,
        "expert_target_speed": 20.0,
        "target_point": [
            54.94793844673292,
            -0.7685152360095335
        ],
        "target_point_next": [
            105.90888898047392,
            1.2275924402318301
        ]
    },
    "330": {
        "acceleration": [
            0.048732757568359375,
            1.022559404373169,
            -0.00022590160369873047
        ],
        "angular_velocity": [
            1.0397282838821411,
            0.019097527489066124,
            -4.900970458984375
        ],
        "forward_vector": [
            -0.9963939785957336,
            0.07617733627557755,
            -0.03736436367034912
        ],
        "right_vector": [
            -0.07604986429214478,
            -0.9970924258232117,
            -0.004823046736419201
        ],
        "location": [
            -1137.2510986328125,
            3074.046142578125,
            353.8038330078125
        ],
        "rotation": [
            0.27653437852859497,
            -2.1413187980651855,
            175.62806701660156
        ],
        "velocity": [
            -12.766716957092285,
            1.0152153968811035,
            -0.466560959815979
        ],
        "speed": 12.807018550957602,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 6,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1207.350830078125,
                        "y": 3106.38427734375,
                        "z": 350.7530517578125
                    },
                    "rotation": {
                        "roll": -3.340113741145956e-09,
                        "pitch": 3.154447555541992,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4076,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1207.428955078125,
                        "y": 3102.885498046875,
                        "z": 350.7530517578125
                    },
                    "rotation": {
                        "roll": -3.340113741145956e-09,
                        "pitch": 3.154447555541992,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4075,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1207.507080078125,
                        "y": 3099.386474609375,
                        "z": 350.7530517578125
                    },
                    "rotation": {
                        "roll": -3.340113741145956e-09,
                        "pitch": 3.154447555541992,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4074,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1207.58544921875,
                        "y": 3095.88720703125,
                        "z": 350.7530517578125
                    },
                    "rotation": {
                        "roll": -3.340113741145956e-09,
                        "pitch": 3.154447555541992,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.047645092010498,
                "transform": {
                    "location": {
                        "x": -1170.837646484375,
                        "y": 3098.576904296875,
                        "z": 352.5301818847656
                    },
                    "rotation": {
                        "roll": 0.014217398129403591,
                        "pitch": 2.2536959648132324,
                        "yaw": -1.036254644393921
                    }
                },
                "velocity": {
                    "x": 3.0449459552764893,
                    "y": -0.023900168016552925,
                    "z": 0.12599115073680878
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4071,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.8241868019104004,
                "transform": {
                    "location": {
                        "x": -1170.6824951171875,
                        "y": 3095.073974609375,
                        "z": 352.5676574707031
                    },
                    "rotation": {
                        "roll": 0.010519027709960938,
                        "pitch": 2.541513204574585,
                        "yaw": -0.9654540419578552
                    }
                },
                "velocity": {
                    "x": 2.821551561355591,
                    "y": -0.02302655018866062,
                    "z": 0.1197822317481041
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4070,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.1778411865234375,
                "transform": {
                    "location": {
                        "x": -1170.169677734375,
                        "y": 3105.56982421875,
                        "z": 352.5348815917969
                    },
                    "rotation": {
                        "roll": 0.014291137456893921,
                        "pitch": 2.5092883110046387,
                        "yaw": -0.9212343096733093
                    }
                },
                "velocity": {
                    "x": 3.1748952865600586,
                    "y": -0.027051478624343872,
                    "z": 0.13410229980945587
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 15.336676597595215,
                "transform": {
                    "location": {
                        "x": -1068.62451171875,
                        "y": 3075.27783203125,
                        "z": 355.99346923828125
                    },
                    "rotation": {
                        "roll": 0.002547213342040777,
                        "pitch": -0.9722227454185486,
                        "yaw": 178.71585083007812
                    }
                },
                "velocity": {
                    "x": -15.329507827758789,
                    "y": 0.34352290630340576,
                    "z": -0.3191239535808563
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4066,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.8447065353393555,
                "transform": {
                    "location": {
                        "x": -1146.673828125,
                        "y": 3094.620849609375,
                        "z": 353.443115234375
                    },
                    "rotation": {
                        "roll": 0.009117464534938335,
                        "pitch": 2.1603341102600098,
                        "yaw": -1.204253911972046
                    }
                },
                "velocity": {
                    "x": 7.837751865386963,
                    "y": -0.16517414152622223,
                    "z": 0.28598082065582275
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.017066955566406,
                "transform": {
                    "location": {
                        "x": -1147.2435302734375,
                        "y": 3098.133056640625,
                        "z": 353.42791748046875
                    },
                    "rotation": {
                        "roll": 0.0028492172714322805,
                        "pitch": 2.0697929859161377,
                        "yaw": -1.187164068222046
                    }
                },
                "velocity": {
                    "x": 8.00992488861084,
                    "y": -0.16975852847099304,
                    "z": 0.2926599383354187
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.414340019226074,
                "transform": {
                    "location": {
                        "x": -1155.5692138671875,
                        "y": 3101.79931640625,
                        "z": 353.12103271484375
                    },
                    "rotation": {
                        "roll": 0.02622988447546959,
                        "pitch": 2.2154605388641357,
                        "yaw": -0.911407470703125
                    }
                },
                "velocity": {
                    "x": 8.407493591308594,
                    "y": -0.14161212742328644,
                    "z": 0.30839428305625916
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4063,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.173535346984863,
                "transform": {
                    "location": {
                        "x": -1145.936279296875,
                        "y": 3105.108154296875,
                        "z": 353.4695129394531
                    },
                    "rotation": {
                        "roll": 0.007024846039712429,
                        "pitch": 2.177443742752075,
                        "yaw": -1.2134703397750854
                    }
                },
                "velocity": {
                    "x": 8.166253089904785,
                    "y": -0.17425963282585144,
                    "z": 0.2977050244808197
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4060,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.001798629760742,
                "transform": {
                    "location": {
                        "x": -1128.8260498046875,
                        "y": 3101.229736328125,
                        "z": 354.126953125
                    },
                    "rotation": {
                        "roll": 0.00023774649889674038,
                        "pitch": 2.095522403717041,
                        "yaw": -1.263763427734375
                    }
                },
                "velocity": {
                    "x": 7.9944658279418945,
                    "y": -0.17854751646518707,
                    "z": 0.2922731637954712
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.372499465942383,
                "transform": {
                    "location": {
                        "x": -1113.5968017578125,
                        "y": 3076.28369140625,
                        "z": 354.6676940917969
                    },
                    "rotation": {
                        "roll": 0.00010181788093177602,
                        "pitch": -2.1056175231933594,
                        "yaw": 178.72157287597656
                    }
                },
                "velocity": {
                    "x": -16.357446670532227,
                    "y": 0.36476150155067444,
                    "z": -0.5996898412704468
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.43889617919922,
                "transform": {
                    "location": {
                        "x": -1182.5126953125,
                        "y": 3077.823486328125,
                        "z": 352.0167541503906
                    },
                    "rotation": {
                        "roll": -0.00106811651494354,
                        "pitch": -2.704529285430908,
                        "yaw": 178.71475219726562
                    }
                },
                "velocity": {
                    "x": -16.416597366333008,
                    "y": 0.3681233823299408,
                    "z": -0.7727530598640442
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1307.361328125,
                        "y": 3080.81298828125,
                        "z": 346.23193359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.6445318460464478,
                        "yaw": 177.54510498046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4032,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1283.3682861328125,
                        "y": 3080.076416015625,
                        "z": 347.0552673339844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.1635990142822266,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1210.1585693359375,
                        "y": 3078.44091796875,
                        "z": 350.58447265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.1450493335723877,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.9984478950500488,
        "expert_target_speed": 20.0,
        "target_point": [
            51.749285956779744,
            0.02624395965799886
        ],
        "target_point_next": [
            102.67506793261707,
            2.7771811285203034
        ]
    },
    "335": {
        "acceleration": [
            0.6058883666992188,
            1.0959148406982422,
            0.04505276679992676
        ],
        "angular_velocity": [
            0.6303637027740479,
            -0.11785461753606796,
            -5.277338027954102
        ],
        "forward_vector": [
            -0.9943967461585999,
            0.09886741638183594,
            -0.037420354783535004
        ],
        "right_vector": [
            -0.09862127900123596,
            -0.9950897693634033,
            -0.008372010663151741
        ],
        "location": [
            -1140.4302978515625,
            3074.331298828125,
            353.6877136230469
        ],
        "rotation": [
            0.48002272844314575,
            -2.144529104232788,
            174.32205200195312
        ],
        "velocity": [
            -12.65768051147461,
            1.284981608390808,
            -0.4626568555831909
        ],
        "speed": 12.722737663901851,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 6,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1205.269287109375,
                        "y": 3106.338134765625,
                        "z": 350.83514404296875
                    },
                    "rotation": {
                        "roll": -3.340113741145956e-09,
                        "pitch": 3.154447555541992,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4076,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1205.347412109375,
                        "y": 3102.839111328125,
                        "z": 350.83514404296875
                    },
                    "rotation": {
                        "roll": -3.340113741145956e-09,
                        "pitch": 3.154447555541992,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4075,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1205.425537109375,
                        "y": 3099.33984375,
                        "z": 350.83514404296875
                    },
                    "rotation": {
                        "roll": -3.340113741145956e-09,
                        "pitch": 3.154447555541992,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4074,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.879769325256348,
                "transform": {
                    "location": {
                        "x": -1205.5462646484375,
                        "y": 3095.841796875,
                        "z": 350.83203125
                    },
                    "rotation": {
                        "roll": 0.002985364058986306,
                        "pitch": 3.2394628524780273,
                        "yaw": -1.262237310409546
                    }
                },
                "velocity": {
                    "x": 6.873513698577881,
                    "y": -0.1367892026901245,
                    "z": 0.25946834683418274
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.1136064529418945,
                "transform": {
                    "location": {
                        "x": -1169.940673828125,
                        "y": 3098.568115234375,
                        "z": 352.5672607421875
                    },
                    "rotation": {
                        "roll": 0.021196486428380013,
                        "pitch": 2.2955853939056396,
                        "yaw": -0.8280029892921448
                    }
                },
                "velocity": {
                    "x": 4.109810829162598,
                    "y": -0.03199991211295128,
                    "z": 0.1737518459558487
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4071,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.169366359710693,
                "transform": {
                    "location": {
                        "x": -1169.8001708984375,
                        "y": 3095.065185546875,
                        "z": 352.6046142578125
                    },
                    "rotation": {
                        "roll": 0.01668880507349968,
                        "pitch": 2.5634586811065674,
                        "yaw": -0.7709044814109802
                    }
                },
                "velocity": {
                    "x": 4.165729522705078,
                    "y": -0.0330544076859951,
                    "z": 0.17093873023986816
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4070,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.465161323547363,
                "transform": {
                    "location": {
                        "x": -1169.1829833984375,
                        "y": 3105.5615234375,
                        "z": 352.5763244628906
                    },
                    "rotation": {
                        "roll": 0.01723751239478588,
                        "pitch": 2.5039336681365967,
                        "yaw": -0.823822021484375
                    }
                },
                "velocity": {
                    "x": 4.461308479309082,
                    "y": -0.03640805557370186,
                    "z": 0.18184472620487213
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 16.166683197021484,
                "transform": {
                    "location": {
                        "x": -1072.5948486328125,
                        "y": 3075.36669921875,
                        "z": 355.908203125
                    },
                    "rotation": {
                        "roll": 0.0019704222213476896,
                        "pitch": -1.1221590042114258,
                        "yaw": 178.70262145996094
                    }
                },
                "velocity": {
                    "x": -16.158428192138672,
                    "y": 0.36420077085494995,
                    "z": -0.36633703112602234
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4066,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.35489273071289,
                "transform": {
                    "location": {
                        "x": -1144.611328125,
                        "y": 3094.576904296875,
                        "z": 353.5177001953125
                    },
                    "rotation": {
                        "roll": 0.006654809694737196,
                        "pitch": 2.3236711025238037,
                        "yaw": -1.2246705293655396
                    }
                },
                "velocity": {
                    "x": 8.347420692443848,
                    "y": -0.178672194480896,
                    "z": 0.30475908517837524
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.328476905822754,
                "transform": {
                    "location": {
                        "x": -1145.216064453125,
                        "y": 3098.090576171875,
                        "z": 353.501953125
                    },
                    "rotation": {
                        "roll": 0.0024346578866243362,
                        "pitch": 2.0555930137634277,
                        "yaw": -1.2069700956344604
                    }
                },
                "velocity": {
                    "x": 8.321089744567871,
                    "y": -0.17542383074760437,
                    "z": 0.3036744296550751
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.046185493469238,
                "transform": {
                    "location": {
                        "x": -1153.530517578125,
                        "y": 3101.7646484375,
                        "z": 353.1972961425781
                    },
                    "rotation": {
                        "roll": 0.01700354740023613,
                        "pitch": 1.9752906560897827,
                        "yaw": -1.0142210721969604
                    }
                },
                "velocity": {
                    "x": 8.03950309753418,
                    "y": -0.1486855149269104,
                    "z": 0.29218584299087524
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4063,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.292388916015625,
                "transform": {
                    "location": {
                        "x": -1143.890869140625,
                        "y": 3105.064208984375,
                        "z": 353.5442810058594
                    },
                    "rotation": {
                        "roll": 0.0038405379746109247,
                        "pitch": 2.1553685665130615,
                        "yaw": -1.240081787109375
                    }
                },
                "velocity": {
                    "x": 8.284933090209961,
                    "y": -0.1791522055864334,
                    "z": 0.3024846017360687
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4060,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.35300064086914,
                "transform": {
                    "location": {
                        "x": -1126.80126953125,
                        "y": 3101.1845703125,
                        "z": 354.2004699707031
                    },
                    "rotation": {
                        "roll": 0.0018455684185028076,
                        "pitch": 2.1277198791503906,
                        "yaw": -1.2772520780563354
                    }
                },
                "velocity": {
                    "x": 8.345297813415527,
                    "y": -0.18819960951805115,
                    "z": 0.30529871582984924
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.372440338134766,
                "transform": {
                    "location": {
                        "x": -1117.686279296875,
                        "y": 3076.375,
                        "z": 354.5181579589844
                    },
                    "rotation": {
                        "roll": 0.00017689329979475588,
                        "pitch": -2.1001532077789307,
                        "yaw": 178.7194366455078
                    }
                },
                "velocity": {
                    "x": -16.357425689697266,
                    "y": 0.3654622435569763,
                    "z": -0.5981942415237427
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.40451431274414,
                "transform": {
                    "location": {
                        "x": -1186.610595703125,
                        "y": 3077.915283203125,
                        "z": 351.8211364746094
                    },
                    "rotation": {
                        "roll": -3.0518909625243396e-05,
                        "pitch": -2.8033416271209717,
                        "yaw": 178.71424865722656
                    }
                },
                "velocity": {
                    "x": -16.380918502807617,
                    "y": 0.3675777018070221,
                    "z": -0.7990474700927734
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1311.605712890625,
                        "y": 3080.99267578125,
                        "z": 346.1088562011719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.4258360862731934,
                        "yaw": 177.3032989501953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4032,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1287.613037109375,
                        "y": 3080.175537109375,
                        "z": 346.8969421386719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.058741807937622,
                        "yaw": 178.51222229003906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1214.4010009765625,
                        "y": 3078.53564453125,
                        "z": 350.3534240722656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.0971081256866455,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.9441137909889221,
        "expert_target_speed": 20.0,
        "target_point": [
            48.54343086370112,
            1.1749391854941411
        ],
        "target_point_next": [
            99.39328335201401,
            5.085876039288463
        ]
    },
    "340": {
        "acceleration": [
            0.195465087890625,
            0.3796672821044922,
            0.013824701309204102
        ],
        "angular_velocity": [
            -0.40389692783355713,
            0.055772725492715836,
            -1.5622780323028564
        ],
        "forward_vector": [
            -0.9926274418830872,
            0.11527291685342789,
            -0.0374564453959465
        ],
        "right_vector": [
            -0.11503750085830688,
            -0.9933257102966309,
            -0.008387845940887928
        ],
        "location": [
            -1143.582763671875,
            3074.674560546875,
            353.5724792480469
        ],
        "rotation": [
            0.4809313118457794,
            -2.1465985774993896,
            173.37596130371094
        ],
        "velocity": [
            -12.570192337036133,
            1.4443000555038452,
            -0.45899534225463867
        ],
        "speed": 12.652894453065286,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 6,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.15775203704834,
                "transform": {
                    "location": {
                        "x": -1203.213623046875,
                        "y": 3106.295654296875,
                        "z": 350.9276428222656
                    },
                    "rotation": {
                        "roll": -0.0394287072122097,
                        "pitch": 3.0925183296203613,
                        "yaw": -1.1440736055374146
                    }
                },
                "velocity": {
                    "x": 8.146414756774902,
                    "y": -0.12905940413475037,
                    "z": 0.41010794043540955
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4076,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.343714714050293,
                "transform": {
                    "location": {
                        "x": -1203.594482421875,
                        "y": 3102.80859375,
                        "z": 350.9369812011719
                    },
                    "rotation": {
                        "roll": 0.004437027033418417,
                        "pitch": 3.0175909996032715,
                        "yaw": -0.9852599501609802
                    }
                },
                "velocity": {
                    "x": 6.328561782836914,
                    "y": -0.08330897241830826,
                    "z": 0.43021291494369507
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4075,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.691579341888428,
                "transform": {
                    "location": {
                        "x": -1203.72998046875,
                        "y": 3099.31396484375,
                        "z": 350.9132385253906
                    },
                    "rotation": {
                        "roll": -0.01959228329360485,
                        "pitch": 2.776212215423584,
                        "yaw": -0.9038392305374146
                    }
                },
                "velocity": {
                    "x": 6.682199001312256,
                    "y": -0.08923588693141937,
                    "z": 0.34276601672172546
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4074,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.426131248474121,
                "transform": {
                    "location": {
                        "x": -1203.9144287109375,
                        "y": 3095.822021484375,
                        "z": 350.9095153808594
                    },
                    "rotation": {
                        "roll": 0.033433325588703156,
                        "pitch": 3.220673084259033,
                        "yaw": -0.8025206923484802
                    }
                },
                "velocity": {
                    "x": 6.416556358337402,
                    "y": -0.07448743283748627,
                    "z": 0.34266653656959534
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.148914337158203,
                "transform": {
                    "location": {
                        "x": -1168.7772216796875,
                        "y": 3098.554931640625,
                        "z": 352.6153869628906
                    },
                    "rotation": {
                        "roll": 0.013062008656561375,
                        "pitch": 2.2592146396636963,
                        "yaw": -0.751068115234375
                    }
                },
                "velocity": {
                    "x": 5.143911838531494,
                    "y": -0.07941063493490219,
                    "z": 0.21256332099437714
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4071,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.327755928039551,
                "transform": {
                    "location": {
                        "x": -1168.5992431640625,
                        "y": 3095.050537109375,
                        "z": 352.65435791015625
                    },
                    "rotation": {
                        "roll": 0.02831711247563362,
                        "pitch": 2.499596357345581,
                        "yaw": -0.7476195693016052
                    }
                },
                "velocity": {
                    "x": 5.3227434158325195,
                    "y": -0.07958446443080902,
                    "z": 0.21691006422042847
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4070,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.3002824783325195,
                "transform": {
                    "location": {
                        "x": -1167.9093017578125,
                        "y": 3105.542724609375,
                        "z": 352.6286926269531
                    },
                    "rotation": {
                        "roll": 0.022360822185873985,
                        "pitch": 2.399759531021118,
                        "yaw": -0.835235595703125
                    }
                },
                "velocity": {
                    "x": 5.295308589935303,
                    "y": -0.0810166448354721,
                    "z": 0.21479831635951996
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 16.058740615844727,
                "transform": {
                    "location": {
                        "x": -1076.62353515625,
                        "y": 3075.45703125,
                        "z": 355.8161315917969
                    },
                    "rotation": {
                        "roll": -0.001037596957758069,
                        "pitch": -1.3824166059494019,
                        "yaw": 178.7171630859375
                    }
                },
                "velocity": {
                    "x": -16.050052642822266,
                    "y": 0.3599303364753723,
                    "z": -0.38658395409584045
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4066,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.035143852233887,
                "transform": {
                    "location": {
                        "x": -1142.266845703125,
                        "y": 3094.526123046875,
                        "z": 353.6021423339844
                    },
                    "rotation": {
                        "roll": 0.006452512461692095,
                        "pitch": 2.6238648891448975,
                        "yaw": -1.2418212890625
                    }
                },
                "velocity": {
                    "x": 10.026079177856445,
                    "y": -0.21933980286121368,
                    "z": 0.3657139539718628
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.013190269470215,
                "transform": {
                    "location": {
                        "x": -1143.0509033203125,
                        "y": 3098.043701171875,
                        "z": 353.5812072753906
                    },
                    "rotation": {
                        "roll": -0.00021362349798437208,
                        "pitch": 2.0122692584991455,
                        "yaw": -1.2351378202438354
                    }
                },
                "velocity": {
                    "x": 9.005037307739258,
                    "y": -0.19771139323711395,
                    "z": 0.3283342719078064
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.695023536682129,
                "transform": {
                    "location": {
                        "x": -1151.4521484375,
                        "y": 3101.724853515625,
                        "z": 353.27117919921875
                    },
                    "rotation": {
                        "roll": 0.01725541055202484,
                        "pitch": 2.1872928142547607,
                        "yaw": -1.1254271268844604
                    }
                },
                "velocity": {
                    "x": 8.68749713897705,
                    "y": -0.17536060512065887,
                    "z": 0.31634870171546936
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4063,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.22787094116211,
                "transform": {
                    "location": {
                        "x": -1141.707763671875,
                        "y": 3105.016845703125,
                        "z": 353.6229248046875
                    },
                    "rotation": {
                        "roll": 0.0019034533761441708,
                        "pitch": 2.2805111408233643,
                        "yaw": -1.246917963027954
                    }
                },
                "velocity": {
                    "x": 9.21957015991211,
                    "y": -0.20063529908657074,
                    "z": 0.3359600007534027
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4060,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.568197250366211,
                "transform": {
                    "location": {
                        "x": -1124.5648193359375,
                        "y": 3101.134521484375,
                        "z": 354.2813720703125
                    },
                    "rotation": {
                        "roll": 0.0005408136639744043,
                        "pitch": 2.203821897506714,
                        "yaw": -1.283202886581421
                    }
                },
                "velocity": {
                    "x": 9.559440612792969,
                    "y": -0.21383881568908691,
                    "z": 0.3489620089530945
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.372365951538086,
                "transform": {
                    "location": {
                        "x": -1121.775634765625,
                        "y": 3076.466552734375,
                        "z": 354.3689270019531
                    },
                    "rotation": {
                        "roll": -0.0005493183271028101,
                        "pitch": -2.098992109298706,
                        "yaw": 178.71876525878906
                    }
                },
                "velocity": {
                    "x": -16.357440948486328,
                    "y": 0.36577796936035156,
                    "z": -0.595555305480957
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.406604766845703,
                "transform": {
                    "location": {
                        "x": -1190.705078125,
                        "y": 3078.006591796875,
                        "z": 351.6184997558594
                    },
                    "rotation": {
                        "roll": -0.0018005401361733675,
                        "pitch": -2.8664252758026123,
                        "yaw": 178.73141479492188
                    }
                },
                "velocity": {
                    "x": -16.381486892700195,
                    "y": 0.36338233947753906,
                    "z": -0.8315657377243042
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1315.8494873046875,
                        "y": 3081.185791015625,
                        "z": 345.9985046386719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.4258360862731934,
                        "yaw": 177.3032989501953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4032,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1291.8580322265625,
                        "y": 3080.28515625,
                        "z": 346.7453918457031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9539121389389038,
                        "yaw": 178.27044677734375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1218.6435546875,
                        "y": 3078.630126953125,
                        "z": 350.12542724609375
                    },
                    "rotation": {
                        "roll": -3.339781340372383e-09,
                        "pitch": -3.049187421798706,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.7751891016960144,
        "expert_target_speed": 20.0,
        "target_point": [
            45.34639494838184,
            1.953632526518176
        ],
        "target_point_next": [
            96.12473925991044,
            6.703650856735106
        ]
    },
    "345": {
        "acceleration": [
            0.29720306396484375,
            0.3432273864746094,
            0.02365410327911377
        ],
        "angular_velocity": [
            -0.1733536422252655,
            0.04894132912158966,
            -1.6409015655517578
        ],
        "forward_vector": [
            -0.9918158054351807,
            0.12210029363632202,
            -0.03732183948159218
        ],
        "right_vector": [
            -0.12190571427345276,
            -0.9925136566162109,
            -0.007454185746610165
        ],
        "location": [
            -1146.715576171875,
            3075.048095703125,
            353.45806884765625
        ],
        "rotation": [
            0.42739513516426086,
            -2.138880491256714,
            172.98175048828125
        ],
        "velocity": [
            -12.502114295959473,
            1.5475852489471436,
            -0.45809805393218994
        ],
        "speed": 12.59753475772117,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 6,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.814296722412109,
                "transform": {
                    "location": {
                        "x": -1201.2220458984375,
                        "y": 3106.26708984375,
                        "z": 351.0354309082031
                    },
                    "rotation": {
                        "roll": -0.02145385555922985,
                        "pitch": 3.0911247730255127,
                        "yaw": -0.78564453125
                    }
                },
                "velocity": {
                    "x": 7.801887035369873,
                    "y": -0.09414426237344742,
                    "z": 0.43003180623054504
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4076,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.4139533042907715,
                "transform": {
                    "location": {
                        "x": -1202.002197265625,
                        "y": 3102.786865234375,
                        "z": 351.0346374511719
                    },
                    "rotation": {
                        "roll": 0.02148871310055256,
                        "pitch": 3.111574411392212,
                        "yaw": -0.8020017743110657
                    }
                },
                "velocity": {
                    "x": 6.402921676635742,
                    "y": -0.07973100244998932,
                    "z": 0.3674744963645935
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4075,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.325078964233398,
                "transform": {
                    "location": {
                        "x": -1202.1051025390625,
                        "y": 3099.292236328125,
                        "z": 350.9986267089844
                    },
                    "rotation": {
                        "roll": 0.00982740055769682,
                        "pitch": 3.0001468658447266,
                        "yaw": -0.7847898602485657
                    }
                },
                "velocity": {
                    "x": 6.315403461456299,
                    "y": -0.0813998132944107,
                    "z": 0.3401125371456146
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4074,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.361317157745361,
                "transform": {
                    "location": {
                        "x": -1202.3194580078125,
                        "y": 3095.80078125,
                        "z": 350.99755859375
                    },
                    "rotation": {
                        "roll": 0.023774100467562675,
                        "pitch": 3.154160737991333,
                        "yaw": -0.7766724228858948
                    }
                },
                "velocity": {
                    "x": 6.351241111755371,
                    "y": -0.08737275004386902,
                    "z": 0.3470727503299713
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.577528476715088,
                "transform": {
                    "location": {
                        "x": -1167.45361328125,
                        "y": 3098.534912109375,
                        "z": 352.6691589355469
                    },
                    "rotation": {
                        "roll": 0.018841974437236786,
                        "pitch": 2.2502124309539795,
                        "yaw": -0.7789000272750854
                    }
                },
                "velocity": {
                    "x": 5.572324752807617,
                    "y": -0.08340586721897125,
                    "z": 0.2259816825389862
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4071,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.349514484405518,
                "transform": {
                    "location": {
                        "x": -1167.272705078125,
                        "y": 3095.031494140625,
                        "z": 352.7094421386719
                    },
                    "rotation": {
                        "roll": 0.02115137316286564,
                        "pitch": 2.3562443256378174,
                        "yaw": -0.816619873046875
                    }
                },
                "velocity": {
                    "x": 5.344459533691406,
                    "y": -0.08042321354150772,
                    "z": 0.21815231442451477
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4070,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.794823169708252,
                "transform": {
                    "location": {
                        "x": -1166.1954345703125,
                        "y": 3105.51708984375,
                        "z": 352.69793701171875
                    },
                    "rotation": {
                        "roll": 0.01591707207262516,
                        "pitch": 2.4105443954467773,
                        "yaw": -0.8822630643844604
                    }
                },
                "velocity": {
                    "x": 7.787698745727539,
                    "y": -0.11937189102172852,
                    "z": 0.3110801577568054
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 15.903675079345703,
                "transform": {
                    "location": {
                        "x": -1080.6116943359375,
                        "y": 3075.54638671875,
                        "z": 355.7179260253906
                    },
                    "rotation": {
                        "roll": -0.002014160854741931,
                        "pitch": -1.5488272905349731,
                        "yaw": 178.7222442626953
                    }
                },
                "velocity": {
                    "x": -15.8944673538208,
                    "y": 0.35492396354675293,
                    "z": -0.4084326922893524
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4066,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.953705787658691,
                "transform": {
                    "location": {
                        "x": -1139.6414794921875,
                        "y": 3094.46875,
                        "z": 353.6979675292969
                    },
                    "rotation": {
                        "roll": 0.005715816281735897,
                        "pitch": 2.5943379402160645,
                        "yaw": -1.260894536972046
                    }
                },
                "velocity": {
                    "x": 10.943787574768066,
                    "y": -0.24071811139583588,
                    "z": 0.3990418016910553
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.862853050231934,
                "transform": {
                    "location": {
                        "x": -1140.6888427734375,
                        "y": 3097.9921875,
                        "z": 353.66748046875
                    },
                    "rotation": {
                        "roll": 4.673086368711665e-05,
                        "pitch": 1.99927818775177,
                        "yaw": -1.2503968477249146
                    }
                },
                "velocity": {
                    "x": 9.853938102722168,
                    "y": -0.2151377946138382,
                    "z": 0.3598262071609497
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.724061965942383,
                "transform": {
                    "location": {
                        "x": -1149.1397705078125,
                        "y": 3101.677978515625,
                        "z": 353.3539123535156
                    },
                    "rotation": {
                        "roll": 0.007954264059662819,
                        "pitch": 2.385416030883789,
                        "yaw": -1.1842041015625
                    }
                },
                "velocity": {
                    "x": 9.715529441833496,
                    "y": -0.2012377381324768,
                    "z": 0.3540746867656708
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4063,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.871631622314453,
                "transform": {
                    "location": {
                        "x": -1139.3116455078125,
                        "y": 3104.96435546875,
                        "z": 353.7101745605469
                    },
                    "rotation": {
                        "roll": 0.0026681912131607533,
                        "pitch": 2.2821574211120605,
                        "yaw": -1.264739990234375
                    }
                },
                "velocity": {
                    "x": 9.862655639648438,
                    "y": -0.21757741272449493,
                    "z": 0.3602878451347351
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4060,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 10.591404914855957,
                "transform": {
                    "location": {
                        "x": -1122.092041015625,
                        "y": 3101.079345703125,
                        "z": 354.3714904785156
                    },
                    "rotation": {
                        "roll": -0.0002136216062353924,
                        "pitch": 2.216730833053589,
                        "yaw": -1.2765501737594604
                    }
                },
                "velocity": {
                    "x": 10.58175277709961,
                    "y": -0.23576945066452026,
                    "z": 0.3857162296772003
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.37236785888672,
                "transform": {
                    "location": {
                        "x": -1125.864990234375,
                        "y": 3076.557861328125,
                        "z": 354.21978759765625
                    },
                    "rotation": {
                        "roll": -0.00015258771600201726,
                        "pitch": -2.099360942840576,
                        "yaw": 178.7181396484375
                    }
                },
                "velocity": {
                    "x": -16.357425689697266,
                    "y": 0.3659461438655853,
                    "z": -0.5959476232528687
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.413589477539062,
                "transform": {
                    "location": {
                        "x": -1194.8006591796875,
                        "y": 3078.097412109375,
                        "z": 351.40850830078125
                    },
                    "rotation": {
                        "roll": -0.00183105340693146,
                        "pitch": -2.974581480026245,
                        "yaw": 178.7293243408203
                    }
                },
                "velocity": {
                    "x": -16.38755989074707,
                    "y": 0.3636080324649811,
                    "z": -0.8494715690612793
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1320.09326171875,
                        "y": 3081.396484375,
                        "z": 345.9032287597656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.2071539163589478,
                        "yaw": 177.0615234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4032,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1296.102783203125,
                        "y": 3080.409423828125,
                        "z": 346.59979248046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9224181175231934,
                        "yaw": 178.02867126464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1222.886474609375,
                        "y": 3078.724853515625,
                        "z": 349.9002990722656
                    },
                    "rotation": {
                        "roll": 3.339633902754713e-09,
                        "pitch": -3.001253366470337,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.7392880320549011,
        "expert_target_speed": 20.0,
        "target_point": [
            42.17690040257463,
            2.253532719057847
        ],
        "target_point_next": [
            92.92136162441042,
            7.352805261602467
        ]
    },
    "350": {
        "acceleration": [
            0.041484832763671875,
            -0.16849517822265625,
            -0.0043135881423950195
        ],
        "angular_velocity": [
            -0.5191329121589661,
            0.0777711272239685,
            -0.32526859641075134
        ],
        "forward_vector": [
            -0.9910538792610168,
            0.12816403806209564,
            -0.03723130002617836
        ],
        "right_vector": [
            -0.1280120313167572,
            -0.9917516708374023,
            -0.006447924766689539
        ],
        "location": [
            -1149.8353271484375,
            3075.4423828125,
            353.34393310546875
        ],
        "rotation": [
            0.3696977496147156,
            -2.1336894035339355,
            172.63134765625
        ],
        "velocity": [
            -12.456558227539062,
            1.597930908203125,
            -0.45525845885276794
        ],
        "speed": 12.558631536256726,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 49.18581771850586,
        "front_vehicle_info": {
            "id": 4039,
            "type": "vehicle.audi.tt",
            "location": [
                -1198.897216796875,
                3078.188720703125,
                351.19146728515625
            ],
            "velocity": [
                -16.389801025390625,
                0.36291614174842834,
                -0.886567234992981
            ],
            "speed_kmh": 59.10398465949992,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.866766929626465,
                "transform": {
                    "location": {
                        "x": -1199.2650146484375,
                        "y": 3106.24462890625,
                        "z": 351.1428527832031
                    },
                    "rotation": {
                        "roll": 0.006214991677552462,
                        "pitch": 3.0715017318725586,
                        "yaw": -0.6518250107765198
                    }
                },
                "velocity": {
                    "x": 7.854715347290039,
                    "y": -0.08434370160102844,
                    "z": 0.42703551054000854
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4076,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.465086936950684,
                "transform": {
                    "location": {
                        "x": -1200.4769287109375,
                        "y": 3102.767333984375,
                        "z": 351.12017822265625
                    },
                    "rotation": {
                        "roll": 0.029936257749795914,
                        "pitch": 3.043388605117798,
                        "yaw": -0.7336119413375854
                    }
                },
                "velocity": {
                    "x": 5.456477642059326,
                    "y": -0.06613486260175705,
                    "z": 0.299420028924942
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4075,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.3836541175842285,
                "transform": {
                    "location": {
                        "x": -1200.5909423828125,
                        "y": 3099.2724609375,
                        "z": 351.0809631347656
                    },
                    "rotation": {
                        "roll": 0.021042823791503906,
                        "pitch": 2.8160390853881836,
                        "yaw": -0.733795166015625
                    }
                },
                "velocity": {
                    "x": 5.37539529800415,
                    "y": -0.06660522520542145,
                    "z": 0.2905542850494385
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4074,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.134274482727051,
                "transform": {
                    "location": {
                        "x": -1200.76123046875,
                        "y": 3095.780029296875,
                        "z": 351.08245849609375
                    },
                    "rotation": {
                        "roll": 0.026336567476391792,
                        "pitch": 3.1119706630706787,
                        "yaw": -0.77703857421875
                    }
                },
                "velocity": {
                    "x": 6.124697208404541,
                    "y": -0.08286704868078232,
                    "z": 0.3324809968471527
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.210277080535889,
                "transform": {
                    "location": {
                        "x": -1166.0211181640625,
                        "y": 3098.513916015625,
                        "z": 352.7271728515625
                    },
                    "rotation": {
                        "roll": 0.016702331602573395,
                        "pitch": 2.2180423736572266,
                        "yaw": -0.8484191298484802
                    }
                },
                "velocity": {
                    "x": 6.204662799835205,
                    "y": -0.092198446393013,
                    "z": 0.24738450348377228
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4071,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.3072333335876465,
                "transform": {
                    "location": {
                        "x": -1165.752197265625,
                        "y": 3095.009033203125,
                        "z": 352.7693176269531
                    },
                    "rotation": {
                        "roll": 0.015738148242235184,
                        "pitch": 2.4684438705444336,
                        "yaw": -0.8785706162452698
                    }
                },
                "velocity": {
                    "x": 7.3006415367126465,
                    "y": -0.10960052162408829,
                    "z": 0.29030877351760864
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4070,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.999551773071289,
                "transform": {
                    "location": {
                        "x": -1164.0882568359375,
                        "y": 3105.484619140625,
                        "z": 352.7821044921875
                    },
                    "rotation": {
                        "roll": 0.01652248576283455,
                        "pitch": 2.3896849155426025,
                        "yaw": -0.8876342177391052
                    }
                },
                "velocity": {
                    "x": 8.991341590881348,
                    "y": -0.13898129761219025,
                    "z": 0.3583187162876129
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 15.76936149597168,
                "transform": {
                    "location": {
                        "x": -1084.5750732421875,
                        "y": 3075.635009765625,
                        "z": 355.61346435546875
                    },
                    "rotation": {
                        "roll": -0.0003662109957076609,
                        "pitch": -1.5780878067016602,
                        "yaw": 178.7270965576172
                    }
                },
                "velocity": {
                    "x": -15.759604454040527,
                    "y": 0.3508276045322418,
                    "z": -0.42962294816970825
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4066,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 11.883797645568848,
                "transform": {
                    "location": {
                        "x": -1136.7840576171875,
                        "y": 3094.405517578125,
                        "z": 353.80224609375
                    },
                    "rotation": {
                        "roll": 0.0014735484728589654,
                        "pitch": 2.5676114559173584,
                        "yaw": -1.2609251737594604
                    }
                },
                "velocity": {
                    "x": 11.87302017211914,
                    "y": -0.2614502012729645,
                    "z": 0.4332028031349182
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.615219116210938,
                "transform": {
                    "location": {
                        "x": -1138.1279296875,
                        "y": 3097.936279296875,
                        "z": 353.7608947753906
                    },
                    "rotation": {
                        "roll": -0.0007019054028205574,
                        "pitch": 1.9986293315887451,
                        "yaw": -1.2596434354782104
                    }
                },
                "velocity": {
                    "x": 10.605538368225098,
                    "y": -0.2363087385892868,
                    "z": 0.3867567479610443
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.487428665161133,
                "transform": {
                    "location": {
                        "x": -1146.64501953125,
                        "y": 3101.625244140625,
                        "z": 353.44549560546875
                    },
                    "rotation": {
                        "roll": 0.006478385534137487,
                        "pitch": 2.299697160720825,
                        "yaw": -1.2221070528030396
                    }
                },
                "velocity": {
                    "x": 10.47800350189209,
                    "y": -0.22620908915996552,
                    "z": 0.3826628029346466
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4063,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.902118682861328,
                "transform": {
                    "location": {
                        "x": -1136.7008056640625,
                        "y": 3104.906494140625,
                        "z": 353.8051452636719
                    },
                    "rotation": {
                        "roll": 0.0012720131780952215,
                        "pitch": 2.3200647830963135,
                        "yaw": -1.2627562284469604
                    }
                },
                "velocity": {
                    "x": 10.892171859741211,
                    "y": -0.2416863739490509,
                    "z": 0.3979611098766327
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4060,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.807151794433594,
                "transform": {
                    "location": {
                        "x": -1119.2750244140625,
                        "y": 3101.0166015625,
                        "z": 354.4739685058594
                    },
                    "rotation": {
                        "roll": 5.009385131415911e-05,
                        "pitch": 2.2330071926116943,
                        "yaw": -1.276611328125
                    }
                },
                "velocity": {
                    "x": 11.796366691589355,
                    "y": -0.26291361451148987,
                    "z": 0.4306516945362091
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 15.307990074157715,
                "transform": {
                    "location": {
                        "x": -1129.848388671875,
                        "y": 3076.646728515625,
                        "z": 354.07440185546875
                    },
                    "rotation": {
                        "roll": 0.00018441458814777434,
                        "pitch": -2.2292096614837646,
                        "yaw": 178.7198028564453
                    }
                },
                "velocity": {
                    "x": -15.294023513793945,
                    "y": 0.34138014912605286,
                    "z": -0.5575518608093262
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.417774200439453,
                "transform": {
                    "location": {
                        "x": -1198.897216796875,
                        "y": 3078.188720703125,
                        "z": 351.19146728515625
                    },
                    "rotation": {
                        "roll": -0.0008850110461935401,
                        "pitch": -3.108336925506592,
                        "yaw": 178.71954345703125
                    }
                },
                "velocity": {
                    "x": -16.389801025390625,
                    "y": 0.36291614174842834,
                    "z": -0.886567234992981
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1324.33642578125,
                        "y": 3081.622314453125,
                        "z": 345.822021484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.9884580969810486,
                        "yaw": 176.8197784423828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4032,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1300.3472900390625,
                        "y": 3080.54833984375,
                        "z": 346.45819091796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9224181175231934,
                        "yaw": 178.02867126464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1227.129638671875,
                        "y": 3078.819580078125,
                        "z": 349.6780700683594
                    },
                    "rotation": {
                        "roll": -3.339488463538487e-09,
                        "pitch": -2.9532439708709717,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.6015927195549011,
        "expert_target_speed": 20.0,
        "target_point": [
            39.017775509778886,
            2.502333993295029
        ],
        "target_point_next": [
            89.73010376624428,
            7.911833782189317
        ]
    },
    "355": {
        "acceleration": [
            0.21539688110351562,
            -0.8898639678955078,
            0.00883638858795166
        ],
        "angular_velocity": [
            -0.9981563091278076,
            0.08569206297397614,
            3.746234655380249
        ],
        "forward_vector": [
            -0.9921560287475586,
            0.11933957785367966,
            -0.03720854967832565
        ],
        "right_vector": [
            -0.11932475119829178,
            -0.9928517937660217,
            -0.002627107547596097
        ],
        "location": [
            -1152.9453125,
            3075.826171875,
            353.2303466796875
        ],
        "rotation": [
            0.15062665939331055,
            -2.132385015487671,
            173.1412353515625
        ],
        "velocity": [
            -12.426025390625,
            1.4520264863967896,
            -0.4542819857597351
        ],
        "speed": 12.510575043764174,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 50.16012191772461,
        "front_vehicle_info": {
            "id": 4039,
            "type": "vehicle.audi.tt",
            "location": [
                -1202.9942626953125,
                3078.280517578125,
                350.9683837890625
            ],
            "velocity": [
                -16.389780044555664,
                0.3675794005393982,
                -0.90059894323349
            ],
            "speed_kmh": 59.10703203034266,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1043.6578369140625,
                        "y": 3074.72119140625,
                        "z": 356.44427490234375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7753903269767761,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.647873401641846,
                "transform": {
                    "location": {
                        "x": -1197.386962890625,
                        "y": 3106.21923828125,
                        "z": 351.2450256347656
                    },
                    "rotation": {
                        "roll": 0.046168409287929535,
                        "pitch": 2.8845183849334717,
                        "yaw": -0.7869873046875
                    }
                },
                "velocity": {
                    "x": 6.63744592666626,
                    "y": -0.10339085012674332,
                    "z": 0.35755422711372375
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4076,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.140989303588867,
                "transform": {
                    "location": {
                        "x": -1199.207275390625,
                        "y": 3102.7509765625,
                        "z": 351.189208984375
                    },
                    "rotation": {
                        "roll": 0.03773621842265129,
                        "pitch": 3.039905309677124,
                        "yaw": -0.5890807509422302
                    }
                },
                "velocity": {
                    "x": 5.1330671310424805,
                    "y": -0.0606069378554821,
                    "z": 0.27878397703170776
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4075,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.435626029968262,
                "transform": {
                    "location": {
                        "x": -1199.290771484375,
                        "y": 3099.255859375,
                        "z": 351.15069580078125
                    },
                    "rotation": {
                        "roll": 0.031686101108789444,
                        "pitch": 2.974581480026245,
                        "yaw": -0.6610106825828552
                    }
                },
                "velocity": {
                    "x": 5.427290916442871,
                    "y": -0.06703473627567291,
                    "z": 0.29333817958831787
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4074,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.658950328826904,
                "transform": {
                    "location": {
                        "x": -1199.30517578125,
                        "y": 3095.76025390625,
                        "z": 351.16131591796875
                    },
                    "rotation": {
                        "roll": 0.02554542012512684,
                        "pitch": 3.1147983074188232,
                        "yaw": -0.7767333984375
                    }
                },
                "velocity": {
                    "x": 5.65023136138916,
                    "y": -0.07495129108428955,
                    "z": 0.3049391806125641
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.745975017547607,
                "transform": {
                    "location": {
                        "x": -1164.2386474609375,
                        "y": 3098.48681640625,
                        "z": 352.79876708984375
                    },
                    "rotation": {
                        "roll": 0.01599428430199623,
                        "pitch": 2.138716459274292,
                        "yaw": -0.8568421006202698
                    }
                },
                "velocity": {
                    "x": 7.7390031814575195,
                    "y": -0.1187775507569313,
                    "z": 0.30634796619415283
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4071,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.696478843688965,
                "transform": {
                    "location": {
                        "x": -1163.73388671875,
                        "y": 3094.977783203125,
                        "z": 352.84930419921875
                    },
                    "rotation": {
                        "roll": 0.020261190831661224,
                        "pitch": 2.4352285861968994,
                        "yaw": -0.8990480303764343
                    }
                },
                "velocity": {
                    "x": 8.68871021270752,
                    "y": -0.15338267385959625,
                    "z": 0.3339696526527405
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4070,
                "type": "vehicle.audi.tt",
                "speed_kmh": 10.193604469299316,
                "transform": {
                    "location": {
                        "x": -1161.6849365234375,
                        "y": 3105.442138671875,
                        "z": 352.8753967285156
                    },
                    "rotation": {
                        "roll": 0.013398006558418274,
                        "pitch": 2.260157346725464,
                        "yaw": -1.0423582792282104
                    }
                },
                "velocity": {
                    "x": 10.184385299682617,
                    "y": -0.1934136301279068,
                    "z": 0.3878921568393707
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 15.797368049621582,
                "transform": {
                    "location": {
                        "x": -1088.4959716796875,
                        "y": 3075.72265625,
                        "z": 355.5046081542969
                    },
                    "rotation": {
                        "roll": 0.0012320860987529159,
                        "pitch": -1.6581990718841553,
                        "yaw": 178.71713256835938
                    }
                },
                "velocity": {
                    "x": -15.7870454788208,
                    "y": 0.3530619740486145,
                    "z": -0.44874632358551025
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4066,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 12.778411865234375,
                "transform": {
                    "location": {
                        "x": -1133.69970703125,
                        "y": 3094.337158203125,
                        "z": 353.9148254394531
                    },
                    "rotation": {
                        "roll": 0.003916074987500906,
                        "pitch": 2.5509252548217773,
                        "yaw": -1.2807618379592896
                    }
                },
                "velocity": {
                    "x": 12.766737937927246,
                    "y": -0.2865355312824249,
                    "z": 0.46488454937934875
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.408369064331055,
                "transform": {
                    "location": {
                        "x": -1135.3724365234375,
                        "y": 3097.875,
                        "z": 353.8613586425781
                    },
                    "rotation": {
                        "roll": -0.0001831075787777081,
                        "pitch": 1.999961256980896,
                        "yaw": -1.2724303007125854
                    }
                },
                "velocity": {
                    "x": 11.39798641204834,
                    "y": -0.2531255781650543,
                    "z": 0.4155890643596649
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 11.33268928527832,
                "transform": {
                    "location": {
                        "x": -1143.9122314453125,
                        "y": 3101.566162109375,
                        "z": 353.5451354980469
                    },
                    "rotation": {
                        "roll": 0.0025339017156511545,
                        "pitch": 2.3129546642303467,
                        "yaw": -1.242919921875
                    }
                },
                "velocity": {
                    "x": 11.322484970092773,
                    "y": -0.24625323712825775,
                    "z": 0.4129685163497925
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4063,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 11.685834884643555,
                "transform": {
                    "location": {
                        "x": -1133.875,
                        "y": 3104.843994140625,
                        "z": 353.90838623046875
                    },
                    "rotation": {
                        "roll": 0.0005510534974746406,
                        "pitch": 2.3016164302825928,
                        "yaw": -1.269622802734375
                    }
                },
                "velocity": {
                    "x": 11.675235748291016,
                    "y": -0.258636474609375,
                    "z": 0.4250939190387726
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4060,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 12.729371070861816,
                "transform": {
                    "location": {
                        "x": -1116.2047119140625,
                        "y": 3100.947998046875,
                        "z": 354.5862121582031
                    },
                    "rotation": {
                        "roll": -0.0007629361352883279,
                        "pitch": 2.207824468612671,
                        "yaw": -1.27813720703125
                    }
                },
                "velocity": {
                    "x": 12.71777057647705,
                    "y": -0.2836622893810272,
                    "z": 0.46340546011924744
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.72390079498291,
                "transform": {
                    "location": {
                        "x": -1133.4656982421875,
                        "y": 3076.727783203125,
                        "z": 353.9423828125
                    },
                    "rotation": {
                        "roll": 0.0006702417740598321,
                        "pitch": -2.3243064880371094,
                        "yaw": 178.71363830566406
                    }
                },
                "velocity": {
                    "x": -13.7113618850708,
                    "y": 0.30706462264060974,
                    "z": -0.4997306764125824
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.41861915588379,
                "transform": {
                    "location": {
                        "x": -1202.9942626953125,
                        "y": 3078.280517578125,
                        "z": 350.9683837890625
                    },
                    "rotation": {
                        "roll": 0.00013618597586173564,
                        "pitch": -3.1506636142730713,
                        "yaw": 178.7135009765625
                    }
                },
                "velocity": {
                    "x": -16.389780044555664,
                    "y": 0.3675794005393982,
                    "z": -0.90059894323349
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4033,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1328.578857421875,
                        "y": 3081.862548828125,
                        "z": 345.7538146972656
                    },
                    "rotation": {
                        "roll": 3.335353992994783e-09,
                        "pitch": -0.769775927066803,
                        "yaw": 176.5779571533203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4032,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.5909423828125,
                        "y": 3080.703125,
                        "z": 346.3179931640625
                    },
                    "rotation": {
                        "roll": -3.3368174889858437e-09,
                        "pitch": -1.8632686138153076,
                        "yaw": 177.78689575195312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1231.372802734375,
                        "y": 3078.91455078125,
                        "z": 349.45867919921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.9053027629852295,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.481356143951416,
        "expert_target_speed": 20.0,
        "target_point": [
            35.90493713657697,
            2.164654262950395
        ],
        "target_point_next": [
            86.6633969496155,
            7.1226460505290925
        ]
    },
    "360": {
        "acceleration": [
            0.051250457763671875,
            -1.0284662246704102,
            0.011404752731323242
        ],
        "angular_velocity": [
            -0.7385088205337524,
            0.06192069128155708,
            4.7382636070251465
        ],
        "forward_vector": [
            -0.9943115711212158,
            0.09977763146162033,
            -0.03726751357316971
        ],
        "right_vector": [
            -0.09988711029291153,
            -0.9949981570243835,
            0.0010826210491359234
        ],
        "location": [
            -1156.0504150390625,
            3076.1611328125,
            353.1169128417969
        ],
        "rotation": [
            -0.0620727501809597,
            -2.135765790939331,
            174.26963806152344
        ],
        "velocity": [
            -12.41081714630127,
            1.211919903755188,
            -0.45389890670776367
        ],
        "speed": 12.469848920177164,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 51.144039154052734,
        "front_vehicle_info": {
            "id": 4039,
            "type": "vehicle.audi.tt",
            "location": [
                -1207.0914306640625,
                3078.372314453125,
                350.74249267578125
            ],
            "velocity": [
                -16.389171600341797,
                0.36806440353393555,
                -0.9041378498077393
            ],
            "speed_kmh": 59.10558481167932,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1047.6734619140625,
                        "y": 3074.810791015625,
                        "z": 356.36859130859375
                    },
                    "rotation": {
                        "roll": -8.338676416030921e-10,
                        "pitch": -0.9065504670143127,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.67614221572876,
                "transform": {
                    "location": {
                        "x": -1195.9033203125,
                        "y": 3106.195556640625,
                        "z": 351.3246765136719
                    },
                    "rotation": {
                        "roll": 0.03315180167555809,
                        "pitch": 2.645106792449951,
                        "yaw": -0.9194945096969604
                    }
                },
                "velocity": {
                    "x": 5.6675591468811035,
                    "y": -0.09611769765615463,
                    "z": 0.296855092048645
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4076,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.664133548736572,
                "transform": {
                    "location": {
                        "x": -1197.8516845703125,
                        "y": 3102.730224609375,
                        "z": 351.26165771484375
                    },
                    "rotation": {
                        "roll": 0.030634524300694466,
                        "pitch": 3.1232540607452393,
                        "yaw": -0.7949216961860657
                    }
                },
                "velocity": {
                    "x": 5.655101776123047,
                    "y": -0.09634263813495636,
                    "z": 0.3048801124095917
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4075,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.189114570617676,
                "transform": {
                    "location": {
                        "x": -1197.894775390625,
                        "y": 3099.234375,
                        "z": 351.22467041015625
                    },
                    "rotation": {
                        "roll": 0.044204242527484894,
                        "pitch": 3.2848904132843018,
                        "yaw": -0.839752197265625
                    }
                },
                "velocity": {
                    "x": 6.179281711578369,
                    "y": -0.10459000617265701,
                    "z": 0.3326833248138428
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4074,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.1105875968933105,
                "transform": {
                    "location": {
                        "x": -1197.8494873046875,
                        "y": 3095.736083984375,
                        "z": 351.2403564453125
                    },
                    "rotation": {
                        "roll": 0.016615211963653564,
                        "pitch": 3.034379720687866,
                        "yaw": -0.9272766709327698
                    }
                },
                "velocity": {
                    "x": 6.100715637207031,
                    "y": -0.11061009019613266,
                    "z": 0.3291153013706207
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.56958293914795,
                "transform": {
                    "location": {
                        "x": -1162.194091796875,
                        "y": 3098.450439453125,
                        "z": 352.87762451171875
                    },
                    "rotation": {
                        "roll": 0.0065329065546393394,
                        "pitch": 2.086103677749634,
                        "yaw": -1.007049560546875
                    }
                },
                "velocity": {
                    "x": 8.56183910369873,
                    "y": -0.16257745027542114,
                    "z": 0.3259349763393402
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4071,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.513341903686523,
                "transform": {
                    "location": {
                        "x": -1161.41064453125,
                        "y": 3094.935791015625,
                        "z": 352.9395751953125
                    },
                    "rotation": {
                        "roll": 0.014089496806263924,
                        "pitch": 2.2747671604156494,
                        "yaw": -1.0509033203125
                    }
                },
                "velocity": {
                    "x": 9.504739761352539,
                    "y": -0.18113818764686584,
                    "z": 0.36163413524627686
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4070,
                "type": "vehicle.audi.tt",
                "speed_kmh": 11.287607192993164,
                "transform": {
                    "location": {
                        "x": -1158.995849609375,
                        "y": 3105.390869140625,
                        "z": 352.9767761230469
                    },
                    "rotation": {
                        "roll": 0.00847269594669342,
                        "pitch": 2.2317299842834473,
                        "yaw": -1.10662841796875
                    }
                },
                "velocity": {
                    "x": 11.277624130249023,
                    "y": -0.21711662411689758,
                    "z": 0.4220507740974426
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 16.445693969726562,
                "transform": {
                    "location": {
                        "x": -1092.5311279296875,
                        "y": 3075.812744140625,
                        "z": 355.385498046875
                    },
                    "rotation": {
                        "roll": -0.00036621172330342233,
                        "pitch": -1.6101691722869873,
                        "yaw": 178.719970703125
                    }
                },
                "velocity": {
                    "x": -16.434110641479492,
                    "y": 0.3672161400318146,
                    "z": -0.49600133299827576
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4066,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.669068336486816,
                "transform": {
                    "location": {
                        "x": -1130.3924560546875,
                        "y": 3094.263427734375,
                        "z": 354.03533935546875
                    },
                    "rotation": {
                        "roll": 0.0023693020921200514,
                        "pitch": 2.5438833236694336,
                        "yaw": -1.275604248046875
                    }
                },
                "velocity": {
                    "x": 13.65657901763916,
                    "y": -0.3056645095348358,
                    "z": 0.49783873558044434
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.125843048095703,
                "transform": {
                    "location": {
                        "x": -1132.4296875,
                        "y": 3097.809326171875,
                        "z": 353.9685974121094
                    },
                    "rotation": {
                        "roll": 0.00045456524821929634,
                        "pitch": 2.0025908946990967,
                        "yaw": -1.2745665311813354
                    }
                },
                "velocity": {
                    "x": 12.114847183227539,
                    "y": -0.2672821283340454,
                    "z": 0.44170981645584106
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 12.146276473999023,
                "transform": {
                    "location": {
                        "x": -1140.9757080078125,
                        "y": 3101.501708984375,
                        "z": 353.65234375
                    },
                    "rotation": {
                        "roll": 0.004302049055695534,
                        "pitch": 2.2927372455596924,
                        "yaw": -1.2641600370407104
                    }
                },
                "velocity": {
                    "x": 12.13524055480957,
                    "y": -0.2692914605140686,
                    "z": 0.4420754015445709
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4063,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 12.495013236999512,
                "transform": {
                    "location": {
                        "x": -1130.8514404296875,
                        "y": 3104.776611328125,
                        "z": 354.0187072753906
                    },
                    "rotation": {
                        "roll": 0.0008439500234089792,
                        "pitch": 2.286357879638672,
                        "yaw": -1.28192138671875
                    }
                },
                "velocity": {
                    "x": 12.483603477478027,
                    "y": -0.27901336550712585,
                    "z": 0.4551481604576111
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4060,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 13.621665000915527,
                "transform": {
                    "location": {
                        "x": -1112.9095458984375,
                        "y": 3100.87451171875,
                        "z": 354.70635986328125
                    },
                    "rotation": {
                        "roll": 0.0005213276599533856,
                        "pitch": 2.1993207931518555,
                        "yaw": -1.2773743867874146
                    }
                },
                "velocity": {
                    "x": 13.609251022338867,
                    "y": -0.3034636974334717,
                    "z": 0.4959428310394287
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.386977195739746,
                "transform": {
                    "location": {
                        "x": -1136.702392578125,
                        "y": 3076.800048828125,
                        "z": 353.82440185546875
                    },
                    "rotation": {
                        "roll": -0.000854491489008069,
                        "pitch": -2.3185689449310303,
                        "yaw": 178.7173614501953
                    }
                },
                "velocity": {
                    "x": -12.375699043273926,
                    "y": 0.2753293514251709,
                    "z": -0.4510883092880249
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.4182186126709,
                "transform": {
                    "location": {
                        "x": -1207.0914306640625,
                        "y": 3078.372314453125,
                        "z": 350.74249267578125
                    },
                    "rotation": {
                        "roll": 0.0011212568497285247,
                        "pitch": -3.164276123046875,
                        "yaw": 178.71315002441406
                    }
                },
                "velocity": {
                    "x": -16.389171600341797,
                    "y": 0.36806440353393555,
                    "z": -0.9041378498077393
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4032,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1308.8343505859375,
                        "y": 3080.874267578125,
                        "z": 346.1879577636719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.6445318460464478,
                        "yaw": 177.54510498046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1235.6160888671875,
                        "y": 3079.00927734375,
                        "z": 349.2421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.9053027629852295,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.395486056804657,
        "expert_target_speed": 20.0,
        "target_point": [
            32.817572292116566,
            1.480409739502646
        ],
        "target_point_next": [
            83.66382667450792,
            5.4378508873524165
        ]
    },
    "365": {
        "acceleration": [
            0.7345199584960938,
            -1.2575864791870117,
            0.013067126274108887
        ],
        "angular_velocity": [
            -0.6396942138671875,
            -0.4363970458507538,
            5.667362689971924
        ],
        "forward_vector": [
            -0.9962900280952454,
            0.07689598947763443,
            -0.03864184021949768
        ],
        "right_vector": [
            -0.07710753381252289,
            -0.9970147013664246,
            0.004011971410363913
        ],
        "location": [
            -1159.13671875,
            3076.42919921875,
            353.0032653808594
        ],
        "rotation": [
            -0.23004142940044403,
            -2.2145657539367676,
            175.58653259277344
        ],
        "velocity": [
            -12.280592918395996,
            0.9066459536552429,
            -0.45738792419433594
        ],
        "speed": 12.314015158048058,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 52.1513786315918,
        "front_vehicle_info": {
            "id": 4039,
            "type": "vehicle.audi.tt",
            "location": [
                -1211.1890869140625,
                3078.464111328125,
                350.51800537109375
            ],
            "velocity": [
                -16.389305114746094,
                0.367492139339447,
                -0.8899036049842834
            ],
            "speed_kmh": 59.1032187069009,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1237.734130859375,
                        "y": 3103.56298828125,
                        "z": 349.4148254394531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.8573479652404785,
                        "yaw": -1.2797242403030396
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4081,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1237.812255859375,
                        "y": 3100.06396484375,
                        "z": 349.4148254394531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.8573479652404785,
                        "yaw": -1.2797242403030396
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4080,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1237.890380859375,
                        "y": 3096.564697265625,
                        "z": 349.4148254394531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.8573479652404785,
                        "yaw": -1.2797242403030396
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4079,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1235.4254150390625,
                        "y": 3107.01171875,
                        "z": 349.4478454589844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.9053027629852295,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1051.8094482421875,
                        "y": 3074.9033203125,
                        "z": 356.3037414550781
                    },
                    "rotation": {
                        "roll": -8.338676416030921e-10,
                        "pitch": -0.9065504670143127,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.261838912963867,
                "transform": {
                    "location": {
                        "x": -1194.4698486328125,
                        "y": 3106.171142578125,
                        "z": 351.3987731933594
                    },
                    "rotation": {
                        "roll": 0.02971876785159111,
                        "pitch": 2.9319815635681152,
                        "yaw": -0.894744873046875
                    }
                },
                "velocity": {
                    "x": 6.252336502075195,
                    "y": -0.1052444651722908,
                    "z": 0.32837799191474915
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4076,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.280030727386475,
                "transform": {
                    "location": {
                        "x": -1196.327880859375,
                        "y": 3102.705322265625,
                        "z": 351.34185791015625
                    },
                    "rotation": {
                        "roll": 0.021387595683336258,
                        "pitch": 3.2219367027282715,
                        "yaw": -0.9190979599952698
                    }
                },
                "velocity": {
                    "x": 7.268972396850586,
                    "y": -0.12614606320858002,
                    "z": 0.3807537853717804
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4075,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.622714996337891,
                "transform": {
                    "location": {
                        "x": -1196.1636962890625,
                        "y": 3099.20458984375,
                        "z": 351.3158264160156
                    },
                    "rotation": {
                        "roll": 0.03258829563856125,
                        "pitch": 3.5933897495269775,
                        "yaw": -0.9533995985984802
                    }
                },
                "velocity": {
                    "x": 7.611034393310547,
                    "y": -0.13411015272140503,
                    "z": 0.3999357521533966
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4074,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.693757057189941,
                "transform": {
                    "location": {
                        "x": -1196.2205810546875,
                        "y": 3095.70703125,
                        "z": 351.3273620605469
                    },
                    "rotation": {
                        "roll": 0.014246956445276737,
                        "pitch": 2.987278699874878,
                        "yaw": -0.9853516221046448
                    }
                },
                "velocity": {
                    "x": 6.683541774749756,
                    "y": -0.12221397459506989,
                    "z": 0.3488813042640686
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.43876838684082,
                "transform": {
                    "location": {
                        "x": -1159.93994140625,
                        "y": 3098.407958984375,
                        "z": 352.9632263183594
                    },
                    "rotation": {
                        "roll": 0.006434131413698196,
                        "pitch": 2.0465636253356934,
                        "yaw": -1.0798033475875854
                    }
                },
                "velocity": {
                    "x": 9.430418014526367,
                    "y": -0.18134495615959167,
                    "z": 0.35309821367263794
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4071,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.09765911102295,
                "transform": {
                    "location": {
                        "x": -1158.8294677734375,
                        "y": 3094.88623046875,
                        "z": 353.0361328125
                    },
                    "rotation": {
                        "roll": 0.011029761284589767,
                        "pitch": 2.3071627616882324,
                        "yaw": -1.1199647188186646
                    }
                },
                "velocity": {
                    "x": 11.087713241577148,
                    "y": -0.22517262399196625,
                    "z": 0.41224798560142517
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4070,
                "type": "vehicle.audi.tt",
                "speed_kmh": 12.070489883422852,
                "transform": {
                    "location": {
                        "x": -1156.092041015625,
                        "y": 3105.331787109375,
                        "z": 353.0845947265625
                    },
                    "rotation": {
                        "roll": 0.005594250746071339,
                        "pitch": 2.1558806896209717,
                        "yaw": -1.1949462890625
                    }
                },
                "velocity": {
                    "x": 12.059707641601562,
                    "y": -0.2545565068721771,
                    "z": 0.44200873374938965
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 16.61997413635254,
                "transform": {
                    "location": {
                        "x": -1096.6705322265625,
                        "y": 3075.905517578125,
                        "z": 355.25836181640625
                    },
                    "rotation": {
                        "roll": 0.001887428923510015,
                        "pitch": -1.7291511297225952,
                        "yaw": 178.71200561523438
                    }
                },
                "velocity": {
                    "x": -16.607410430908203,
                    "y": 0.371993750333786,
                    "z": -0.5282689332962036
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4066,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 14.567059516906738,
                "transform": {
                    "location": {
                        "x": -1126.8619384765625,
                        "y": 3094.184326171875,
                        "z": 354.16412353515625
                    },
                    "rotation": {
                        "roll": 0.0012743913102895021,
                        "pitch": 2.542858839035034,
                        "yaw": -1.2836300134658813
                    }
                },
                "velocity": {
                    "x": 14.553743362426758,
                    "y": -0.32594218850135803,
                    "z": 0.530620276927948
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.8557710647583,
                "transform": {
                    "location": {
                        "x": -1129.30517578125,
                        "y": 3097.739501953125,
                        "z": 354.08251953125
                    },
                    "rotation": {
                        "roll": -0.0003967288648709655,
                        "pitch": 2.004380464553833,
                        "yaw": -1.281524658203125
                    }
                },
                "velocity": {
                    "x": 12.843999862670898,
                    "y": -0.2874146103858948,
                    "z": 0.4689469039440155
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 12.926233291625977,
                "transform": {
                    "location": {
                        "x": -1137.8411865234375,
                        "y": 3101.43212890625,
                        "z": 353.76666259765625
                    },
                    "rotation": {
                        "roll": 0.002601963235065341,
                        "pitch": 2.2888031005859375,
                        "yaw": -1.2847596406936646
                    }
                },
                "velocity": {
                    "x": 12.91439437866211,
                    "y": -0.2896915674209595,
                    "z": 0.47116294503211975
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4063,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.28226375579834,
                "transform": {
                    "location": {
                        "x": -1127.62841796875,
                        "y": 3104.71826171875,
                        "z": 354.13641357421875
                    },
                    "rotation": {
                        "roll": -0.0535583458840847,
                        "pitch": 2.302354097366333,
                        "yaw": -0.8742066025733948
                    }
                },
                "velocity": {
                    "x": 13.272011756896973,
                    "y": -0.19021974503993988,
                    "z": 0.48585569858551025
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4060,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 14.519950866699219,
                "transform": {
                    "location": {
                        "x": -1109.390869140625,
                        "y": 3100.796142578125,
                        "z": 354.8344421386719
                    },
                    "rotation": {
                        "roll": -0.00024413866049144417,
                        "pitch": 2.1870946884155273,
                        "yaw": -1.2778319120407104
                    }
                },
                "velocity": {
                    "x": 14.507011413574219,
                    "y": -0.32361268997192383,
                    "z": 0.5204581618309021
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.933660507202148,
                "transform": {
                    "location": {
                        "x": -1139.725830078125,
                        "y": 3076.86767578125,
                        "z": 353.7142639160156
                    },
                    "rotation": {
                        "roll": 0.0006361178820952773,
                        "pitch": -2.2106316089630127,
                        "yaw": 178.71705627441406
                    }
                },
                "velocity": {
                    "x": -11.922792434692383,
                    "y": 0.2666909098625183,
                    "z": -0.4337729513645172
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.417560577392578,
                "transform": {
                    "location": {
                        "x": -1211.1890869140625,
                        "y": 3078.464111328125,
                        "z": 350.51800537109375
                    },
                    "rotation": {
                        "roll": -0.0007934547029435635,
                        "pitch": -3.1111714839935303,
                        "yaw": 178.72418212890625
                    }
                },
                "velocity": {
                    "x": -16.389305114746094,
                    "y": 0.367492139339447,
                    "z": -0.8899036049842834
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4032,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1313.078369140625,
                        "y": 3081.0595703125,
                        "z": 346.07049560546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.4258360862731934,
                        "yaw": 177.3032989501953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1239.85986328125,
                        "y": 3079.104248046875,
                        "z": 349.0290222167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.8573548793792725,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.3467985689640045,
        "expert_target_speed": 20.0,
        "target_point": [
            29.74514678366641,
            0.7555761325414052
        ],
        "target_point_next": [
            80.66892152483337,
            3.5434231994432954
        ]
    },
    "370": {
        "acceleration": [
            0.4606437683105469,
            -1.280907392501831,
            -0.013932585716247559
        ],
        "angular_velocity": [
            -0.40211546421051025,
            0.003835697891190648,
            5.787998676300049
        ],
        "forward_vector": [
            -0.9978809952735901,
            0.05174192786216736,
            -0.03945077210664749
        ],
        "right_vector": [
            -0.05201992392539978,
            -0.9986276626586914,
            0.006052340380847454
        ],
        "location": [
            -1162.1878662109375,
            3076.619384765625,
            352.8887023925781
        ],
        "rotation": [
            -0.3470458686351776,
            -2.2609496116638184,
            177.03176879882812
        ],
        "velocity": [
            -12.13918685913086,
            0.5883363485336304,
            -0.4589991569519043
        ],
        "speed": 12.153435615491663,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 53.1968879699707,
        "front_vehicle_info": {
            "id": 4039,
            "type": "vehicle.audi.tt",
            "location": [
                -1215.2862548828125,
                3078.55517578125,
                350.2959289550781
            ],
            "velocity": [
                -16.389633178710938,
                0.36446601152420044,
                -0.8886011242866516
            ],
            "speed_kmh": 59.1039008882652,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1235.6527099609375,
                        "y": 3103.51611328125,
                        "z": 349.3330078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.9053027629852295,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4081,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1235.7308349609375,
                        "y": 3100.01708984375,
                        "z": 349.3330078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.9053027629852295,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4080,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1235.8089599609375,
                        "y": 3096.517822265625,
                        "z": 349.3330078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.9053027629852295,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4079,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1233.3519287109375,
                        "y": 3106.965576171875,
                        "z": 349.3835754394531
                    },
                    "rotation": {
                        "roll": 3.339488463538487e-09,
                        "pitch": 2.9532439708709717,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1055.9586181640625,
                        "y": 3074.99609375,
                        "z": 356.2331848144531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.03775155544281,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.955456733703613,
                "transform": {
                    "location": {
                        "x": -1192.6461181640625,
                        "y": 3106.137939453125,
                        "z": 351.49127197265625
                    },
                    "rotation": {
                        "roll": 0.033998750150203705,
                        "pitch": 3.4828293323516846,
                        "yaw": -1.0333253145217896
                    }
                },
                "velocity": {
                    "x": 7.943477630615234,
                    "y": -0.15377694368362427,
                    "z": 0.4084230065345764
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4076,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.353229522705078,
                "transform": {
                    "location": {
                        "x": -1194.3197021484375,
                        "y": 3102.670654296875,
                        "z": 351.4478454589844
                    },
                    "rotation": {
                        "roll": 0.016959166154265404,
                        "pitch": 3.1040408611297607,
                        "yaw": -0.9898983836174011
                    }
                },
                "velocity": {
                    "x": 8.34056282043457,
                    "y": -0.1476535201072693,
                    "z": 0.43547698855400085
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4075,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.361111640930176,
                "transform": {
                    "location": {
                        "x": -1194.1240234375,
                        "y": 3099.168701171875,
                        "z": 351.42333984375
                    },
                    "rotation": {
                        "roll": 0.02390289306640625,
                        "pitch": 3.4450721740722656,
                        "yaw": -1.0180357694625854
                    }
                },
                "velocity": {
                    "x": 8.348397254943848,
                    "y": -0.15068960189819336,
                    "z": 0.4356072247028351
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4074,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.341938018798828,
                "transform": {
                    "location": {
                        "x": -1194.269287109375,
                        "y": 3095.67138671875,
                        "z": 351.4305114746094
                    },
                    "rotation": {
                        "roll": 0.01253465749323368,
                        "pitch": 2.803410053253174,
                        "yaw": -1.0331727266311646
                    }
                },
                "velocity": {
                    "x": 8.329171180725098,
                    "y": -0.15395477414131165,
                    "z": 0.4348997473716736
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.194523811340332,
                "transform": {
                    "location": {
                        "x": -1157.484619140625,
                        "y": 3098.359619140625,
                        "z": 353.0545959472656
                    },
                    "rotation": {
                        "roll": 0.001603573327884078,
                        "pitch": 2.0355942249298096,
                        "yaw": -1.143951416015625
                    }
                },
                "velocity": {
                    "x": 10.185463905334473,
                    "y": -0.211961030960083,
                    "z": 0.3737807273864746
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4071,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 12.125936508178711,
                "transform": {
                    "location": {
                        "x": -1155.9185791015625,
                        "y": 3094.826416015625,
                        "z": 353.1439514160156
                    },
                    "rotation": {
                        "roll": 0.007526285480707884,
                        "pitch": 2.2184247970581055,
                        "yaw": -1.1970216035842896
                    }
                },
                "velocity": {
                    "x": 12.115168571472168,
                    "y": -0.2541542649269104,
                    "z": 0.4432191252708435
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4070,
                "type": "vehicle.audi.tt",
                "speed_kmh": 13.164051055908203,
                "transform": {
                    "location": {
                        "x": -1152.916015625,
                        "y": 3105.264892578125,
                        "z": 353.20025634765625
                    },
                    "rotation": {
                        "roll": 0.004331239499151707,
                        "pitch": 2.1617343425750732,
                        "yaw": -1.2265931367874146
                    }
                },
                "velocity": {
                    "x": 13.152256965637207,
                    "y": -0.28426438570022583,
                    "z": 0.47912901639938354
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 16.57162857055664,
                "transform": {
                    "location": {
                        "x": -1100.81494140625,
                        "y": 3075.998291015625,
                        "z": 355.125
                    },
                    "rotation": {
                        "roll": -0.00027465479797683656,
                        "pitch": -1.9451626539230347,
                        "yaw": 178.71961975097656
                    }
                },
                "velocity": {
                    "x": -16.558351516723633,
                    "y": 0.3702607750892639,
                    "z": -0.5502611398696899
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4066,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 15.124608993530273,
                "transform": {
                    "location": {
                        "x": -1123.166748046875,
                        "y": 3094.101806640625,
                        "z": 354.2992248535156
                    },
                    "rotation": {
                        "roll": -9.15533528313972e-05,
                        "pitch": 2.4377081394195557,
                        "yaw": -1.2781068086624146
                    }
                },
                "velocity": {
                    "x": 15.110774993896484,
                    "y": -0.3373936712741852,
                    "z": 0.5517600178718567
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 13.541800498962402,
                "transform": {
                    "location": {
                        "x": -1126.0050048828125,
                        "y": 3097.666259765625,
                        "z": 354.202880859375
                    },
                    "rotation": {
                        "roll": 0.0001113690814236179,
                        "pitch": 2.0076041221618652,
                        "yaw": -1.276855230331421
                    }
                },
                "velocity": {
                    "x": 13.5294771194458,
                    "y": -0.30162861943244934,
                    "z": 0.4925887882709503
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.759637832641602,
                "transform": {
                    "location": {
                        "x": -1134.5045166015625,
                        "y": 3101.357666015625,
                        "z": 353.8883056640625
                    },
                    "rotation": {
                        "roll": 0.00015376589726656675,
                        "pitch": 2.294963836669922,
                        "yaw": -1.283233404159546
                    }
                },
                "velocity": {
                    "x": 13.747085571289062,
                    "y": -0.3073590099811554,
                    "z": 0.5007891654968262
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4063,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.111516952514648,
                "transform": {
                    "location": {
                        "x": -1124.2020263671875,
                        "y": 3104.684814453125,
                        "z": 354.2621765136719
                    },
                    "rotation": {
                        "roll": -0.1455383151769638,
                        "pitch": 2.319948673248291,
                        "yaw": -0.1307678073644638
                    }
                },
                "velocity": {
                    "x": 14.101694107055664,
                    "y": 0.05846770107746124,
                    "z": 0.5231729745864868
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4060,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 15.071709632873535,
                "transform": {
                    "location": {
                        "x": -1105.703369140625,
                        "y": 3100.71337890625,
                        "z": 354.9660949707031
                    },
                    "rotation": {
                        "roll": 0.0012900762958452106,
                        "pitch": 2.087975025177002,
                        "yaw": -1.284423828125
                    }
                },
                "velocity": {
                    "x": 15.05864429473877,
                    "y": -0.3372899293899536,
                    "z": 0.5290395021438599
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.860969543457031,
                "transform": {
                    "location": {
                        "x": -1142.6954345703125,
                        "y": 3076.93408203125,
                        "z": 353.6060485839844
                    },
                    "rotation": {
                        "roll": 8.934485958889127e-05,
                        "pitch": -2.1372616291046143,
                        "yaw": 178.71910095214844
                    }
                },
                "velocity": {
                    "x": -11.850159645080566,
                    "y": 0.26484838128089905,
                    "z": -0.43147850036621094
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.41775131225586,
                "transform": {
                    "location": {
                        "x": -1215.2862548828125,
                        "y": 3078.55517578125,
                        "z": 350.2959289550781
                    },
                    "rotation": {
                        "roll": -0.0003967322700191289,
                        "pitch": -3.1109323501586914,
                        "yaw": 178.72601318359375
                    }
                },
                "velocity": {
                    "x": -16.389633178710938,
                    "y": 0.36446601152420044,
                    "z": -0.8886011242866516
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4032,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1317.3221435546875,
                        "y": 3081.259521484375,
                        "z": 345.96600341796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.2071539163589478,
                        "yaw": 177.0615234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1244.103515625,
                        "y": 3079.19921875,
                        "z": 348.81903076171875
                    },
                    "rotation": {
                        "roll": -3.3390665787891294e-09,
                        "pitch": -2.809420585632324,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.36278781294822693,
        "expert_target_speed": 20.0,
        "target_point": [
            26.69783897853977,
            0.03705391371377953
        ],
        "target_point_next": [
            77.67572795983216,
            1.5396384100323082
        ]
    },
    "375": {
        "acceleration": [
            1.00830078125,
            -0.9675335884094238,
            -0.011484026908874512
        ],
        "angular_velocity": [
            -0.014097902923822403,
            -0.6009218692779541,
            5.1076979637146
        ],
        "forward_vector": [
            -0.998751163482666,
            0.02721099555492401,
            -0.0419006422162056
        ],
        "right_vector": [
            -0.027535272762179375,
            -0.999595046043396,
            0.007181496825069189
        ],
        "location": [
            -1165.1964111328125,
            3076.7314453125,
            352.7722473144531
        ],
        "rotation": [
            -0.4118346869945526,
            -2.401432991027832,
            178.43936157226562
        ],
        "velocity": [
            -11.939562797546387,
            0.2933763861656189,
            -0.4707689583301544
        ],
        "speed": 11.943166644592768,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 54.288143157958984,
        "front_vehicle_info": {
            "id": 4039,
            "type": "vehicle.audi.tt",
            "location": [
                -1219.3836669921875,
                3078.646728515625,
                350.07489013671875
            ],
            "velocity": [
                -16.38875389099121,
                0.3657374382019043,
                -0.8698610663414001
            ],
            "speed_kmh": 59.097229411987044,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1233.57177734375,
                        "y": 3103.4697265625,
                        "z": 349.3256530761719
                    },
                    "rotation": {
                        "roll": 3.339488463538487e-09,
                        "pitch": 2.9532439708709717,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4081,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1233.64990234375,
                        "y": 3099.970458984375,
                        "z": 349.3256530761719
                    },
                    "rotation": {
                        "roll": 3.339488463538487e-09,
                        "pitch": 2.9532439708709717,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4080,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1233.72802734375,
                        "y": 3096.471435546875,
                        "z": 349.3255920410156
                    },
                    "rotation": {
                        "roll": 3.339488463538487e-09,
                        "pitch": 2.9532439708709717,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4079,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1231.2703857421875,
                        "y": 3106.918701171875,
                        "z": 349.4607238769531
                    },
                    "rotation": {
                        "roll": 3.339488463538487e-09,
                        "pitch": 2.9532439708709717,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1060.09326171875,
                        "y": 3075.08837890625,
                        "z": 356.1568908691406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0719298124313354,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.248209953308105,
                "transform": {
                    "location": {
                        "x": -1190.5794677734375,
                        "y": 3106.09765625,
                        "z": 351.5974426269531
                    },
                    "rotation": {
                        "roll": 0.022764593362808228,
                        "pitch": 3.2871034145355225,
                        "yaw": -1.109222412109375
                    }
                },
                "velocity": {
                    "x": 8.23616886138916,
                    "y": -0.16384482383728027,
                    "z": 0.4143047332763672
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4076,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.832467079162598,
                "transform": {
                    "location": {
                        "x": -1192.29833984375,
                        "y": 3102.632080078125,
                        "z": 351.5534973144531
                    },
                    "rotation": {
                        "roll": 0.012872198596596718,
                        "pitch": 2.953004837036133,
                        "yaw": -1.1016541719436646
                    }
                },
                "velocity": {
                    "x": 7.820566654205322,
                    "y": -0.1565045267343521,
                    "z": 0.4022251069545746
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4075,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.788434982299805,
                "transform": {
                    "location": {
                        "x": -1192.1165771484375,
                        "y": 3099.1298828125,
                        "z": 351.52838134765625
                    },
                    "rotation": {
                        "roll": 0.026321303099393845,
                        "pitch": 3.0123112201690674,
                        "yaw": -1.1197509765625
                    }
                },
                "velocity": {
                    "x": 7.776639938354492,
                    "y": -0.15588031709194183,
                    "z": 0.3991152048110962
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4074,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.01199722290039,
                "transform": {
                    "location": {
                        "x": -1192.2156982421875,
                        "y": 3095.631103515625,
                        "z": 351.5353698730469
                    },
                    "rotation": {
                        "roll": 0.006395228207111359,
                        "pitch": 2.9401025772094727,
                        "yaw": -1.127410650253296
                    }
                },
                "velocity": {
                    "x": 7.999741077423096,
                    "y": -0.1639290153980255,
                    "z": 0.4115360975265503
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.008625984191895,
                "transform": {
                    "location": {
                        "x": -1154.8316650390625,
                        "y": 3098.30419921875,
                        "z": 353.152099609375
                    },
                    "rotation": {
                        "roll": 0.0022006137296557426,
                        "pitch": 1.9905219078063965,
                        "yaw": -1.195953130722046
                    }
                },
                "velocity": {
                    "x": 10.99888801574707,
                    "y": -0.2314816266298294,
                    "z": 0.400899738073349
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4071,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 13.02595329284668,
                "transform": {
                    "location": {
                        "x": -1152.7723388671875,
                        "y": 3094.760009765625,
                        "z": 353.2586669921875
                    },
                    "rotation": {
                        "roll": 0.0043194289319217205,
                        "pitch": 2.1999218463897705,
                        "yaw": -1.2287596464157104
                    }
                },
                "velocity": {
                    "x": 13.014313697814941,
                    "y": -0.2805494964122772,
                    "z": 0.47369933128356934
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4070,
                "type": "vehicle.audi.tt",
                "speed_kmh": 13.883345603942871,
                "transform": {
                    "location": {
                        "x": -1149.535400390625,
                        "y": 3105.19140625,
                        "z": 353.32342529296875
                    },
                    "rotation": {
                        "roll": 0.0021315335761755705,
                        "pitch": 2.1484973430633545,
                        "yaw": -1.253814697265625
                    }
                },
                "velocity": {
                    "x": 13.870833396911621,
                    "y": -0.3029801845550537,
                    "z": 0.5054370760917664
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 16.520666122436523,
                "transform": {
                    "location": {
                        "x": -1104.94580078125,
                        "y": 3076.090576171875,
                        "z": 354.9847106933594
                    },
                    "rotation": {
                        "roll": 8.922762208385393e-05,
                        "pitch": -2.041529655456543,
                        "yaw": 178.72213745117188
                    }
                },
                "velocity": {
                    "x": -16.506486892700195,
                    "y": 0.36979418992996216,
                    "z": -0.5757953524589539
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4066,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 15.970244407653809,
                "transform": {
                    "location": {
                        "x": -1119.27197265625,
                        "y": 3094.014892578125,
                        "z": 354.4410400390625
                    },
                    "rotation": {
                        "roll": -0.00018310640007257462,
                        "pitch": 2.496044635772705,
                        "yaw": -1.276275634765625
                    }
                },
                "velocity": {
                    "x": 15.955679893493652,
                    "y": -0.3556251525878906,
                    "z": 0.5818383097648621
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 14.20843505859375,
                "transform": {
                    "location": {
                        "x": -1122.5355224609375,
                        "y": 3097.588623046875,
                        "z": 354.3293151855469
                    },
                    "rotation": {
                        "roll": 0.0009634536108933389,
                        "pitch": 2.0088815689086914,
                        "yaw": -1.2745360136032104
                    }
                },
                "velocity": {
                    "x": 14.195521354675293,
                    "y": -0.3135315477848053,
                    "z": 0.5181771516799927
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.57315731048584,
                "transform": {
                    "location": {
                        "x": -1130.9625244140625,
                        "y": 3101.2783203125,
                        "z": 354.017333984375
                    },
                    "rotation": {
                        "roll": -9.155589214060456e-05,
                        "pitch": 2.2993626594543457,
                        "yaw": -1.280059814453125
                    }
                },
                "velocity": {
                    "x": 14.559843063354492,
                    "y": -0.32554590702056885,
                    "z": 0.5309470295906067
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4063,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.9221773147583,
                "transform": {
                    "location": {
                        "x": -1120.5716552734375,
                        "y": 3104.734375,
                        "z": 354.3963623046875
                    },
                    "rotation": {
                        "roll": -0.2717894911766052,
                        "pitch": 2.3298251628875732,
                        "yaw": 1.8064861297607422
                    }
                },
                "velocity": {
                    "x": 14.903356552124023,
                    "y": 0.5233129262924194,
                    "z": 0.53618323802948
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4060,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 15.937277793884277,
                "transform": {
                    "location": {
                        "x": -1101.8194580078125,
                        "y": 3100.626708984375,
                        "z": 355.10064697265625
                    },
                    "rotation": {
                        "roll": -0.0008239765884354711,
                        "pitch": 2.0361886024475098,
                        "yaw": -1.2769163846969604
                    }
                },
                "velocity": {
                    "x": 15.924405097961426,
                    "y": -0.35343584418296814,
                    "z": 0.5340456366539001
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.738264083862305,
                "transform": {
                    "location": {
                        "x": -1145.6448974609375,
                        "y": 3077.0,
                        "z": 353.49847412109375
                    },
                    "rotation": {
                        "roll": -0.0011901857797056437,
                        "pitch": -2.1237175464630127,
                        "yaw": 178.71710205078125
                    }
                },
                "velocity": {
                    "x": -11.727543830871582,
                    "y": 0.26159101724624634,
                    "z": -0.4279172420501709
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.415897369384766,
                "transform": {
                    "location": {
                        "x": -1219.3836669921875,
                        "y": 3078.646728515625,
                        "z": 350.07489013671875
                    },
                    "rotation": {
                        "roll": 0.00018428378098178655,
                        "pitch": -3.056816816329956,
                        "yaw": 178.72108459472656
                    }
                },
                "velocity": {
                    "x": -16.38875389099121,
                    "y": 0.3657374382019043,
                    "z": -0.8698610663414001
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4032,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1321.5657958984375,
                        "y": 3081.473876953125,
                        "z": 345.8744201660156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.9884580969810486,
                        "yaw": 176.8197784423828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1248.3472900390625,
                        "y": 3079.2939453125,
                        "z": 348.61181640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.783540964126587,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.40054160356521606,
        "expert_target_speed": 20.0,
        "target_point": [
            23.680212061298082,
            -0.5886977735785873
        ],
        "target_point_next": [
            74.67962859479302,
            -0.33882100268349236
        ]
    },
    "380": {
        "acceleration": [
            0.13113021850585938,
            -0.11833548545837402,
            -0.1599651575088501
        ],
        "angular_velocity": [
            0.7275698781013489,
            -0.14314864575862885,
            1.5409117937088013
        ],
        "forward_vector": [
            -0.9990454912185669,
            0.011088873259723186,
            -0.042251281440258026
        ],
        "right_vector": [
            -0.011346755549311638,
            -0.9999184608459473,
            0.005868589039891958
        ],
        "location": [
            -1168.1610107421875,
            3076.78369140625,
            352.6533508300781
        ],
        "rotation": [
            -0.3365478515625,
            -2.4215409755706787,
            179.36407470703125
        ],
        "velocity": [
            -11.807889938354492,
            0.1384001225233078,
            -0.48202452063560486
        ],
        "speed": 11.808701003506174,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.425201416015625,
        "front_vehicle_info": {
            "id": 4039,
            "type": "vehicle.audi.tt",
            "location": [
                -1223.481201171875,
                3078.73828125,
                349.85888671875
            ],
            "velocity": [
                -16.38778305053711,
                0.3678033649921417,
                -0.8608630299568176
            ],
            "speed_kmh": 59.09219863289232,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.019771575927734,
                "transform": {
                    "location": {
                        "x": -1231.5032958984375,
                        "y": 3103.42431640625,
                        "z": 349.42779541015625
                    },
                    "rotation": {
                        "roll": -0.02056884765625,
                        "pitch": 2.9109513759613037,
                        "yaw": -1.224639892578125
                    }
                },
                "velocity": {
                    "x": 8.00871753692627,
                    "y": -0.1405225694179535,
                    "z": 0.39678511023521423
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4081,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.004443168640137,
                "transform": {
                    "location": {
                        "x": -1231.6025390625,
                        "y": 3099.9287109375,
                        "z": 349.4272155761719
                    },
                    "rotation": {
                        "roll": 0.030002381652593613,
                        "pitch": 2.9736523628234863,
                        "yaw": -1.119018316268921
                    }
                },
                "velocity": {
                    "x": 7.99367094039917,
                    "y": -0.09286227822303772,
                    "z": 0.4046038091182709
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4080,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.9377312660217285,
                "transform": {
                    "location": {
                        "x": -1231.687744140625,
                        "y": 3096.432373046875,
                        "z": 349.42529296875
                    },
                    "rotation": {
                        "roll": -0.0520019456744194,
                        "pitch": 2.874990463256836,
                        "yaw": -1.022705078125
                    }
                },
                "velocity": {
                    "x": 7.9278459548950195,
                    "y": -0.10796986520290375,
                    "z": 0.3810237944126129
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4079,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.0415620803833,
                "transform": {
                    "location": {
                        "x": -1229.2171630859375,
                        "y": 3106.876220703125,
                        "z": 349.53839111328125
                    },
                    "rotation": {
                        "roll": 0.0009852645453065634,
                        "pitch": 2.936516761779785,
                        "yaw": -1.1409912109375
                    }
                },
                "velocity": {
                    "x": 8.033683776855469,
                    "y": -0.10883884876966476,
                    "z": 0.3388040065765381
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1064.2213134765625,
                        "y": 3075.180908203125,
                        "z": 356.0785217285156
                    },
                    "rotation": {
                        "roll": 1.6678640690770408e-09,
                        "pitch": -1.1525875329971313,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.759438514709473,
                "transform": {
                    "location": {
                        "x": -1188.6004638671875,
                        "y": 3106.057861328125,
                        "z": 351.6982727050781
                    },
                    "rotation": {
                        "roll": 0.01679932326078415,
                        "pitch": 2.8377249240875244,
                        "yaw": -1.1781615018844604
                    }
                },
                "velocity": {
                    "x": 7.748116970062256,
                    "y": -0.16224975883960724,
                    "z": 0.386319100856781
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4076,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.019573211669922,
                "transform": {
                    "location": {
                        "x": -1190.3399658203125,
                        "y": 3102.593017578125,
                        "z": 351.65289306640625
                    },
                    "rotation": {
                        "roll": 0.006771208718419075,
                        "pitch": 2.9172351360321045,
                        "yaw": -1.1521605253219604
                    }
                },
                "velocity": {
                    "x": 8.00795841217041,
                    "y": -0.16263505816459656,
                    "z": 0.39964064955711365
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4075,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.062356948852539,
                "transform": {
                    "location": {
                        "x": -1190.1556396484375,
                        "y": 3099.08984375,
                        "z": 351.6277160644531
                    },
                    "rotation": {
                        "roll": 0.015132389962673187,
                        "pitch": 2.984860897064209,
                        "yaw": -1.16595458984375
                    }
                },
                "velocity": {
                    "x": 8.05062198638916,
                    "y": -0.16545219719409943,
                    "z": 0.4021333158016205
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4074,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.856206893920898,
                "transform": {
                    "location": {
                        "x": -1190.2535400390625,
                        "y": 3095.591064453125,
                        "z": 351.6348876953125
                    },
                    "rotation": {
                        "roll": 0.005208790767937899,
                        "pitch": 2.8935890197753906,
                        "yaw": -1.167754888534546
                    }
                },
                "velocity": {
                    "x": 7.8448357582092285,
                    "y": -0.16337476670742035,
                    "z": 0.38967910408973694
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.733985900878906,
                "transform": {
                    "location": {
                        "x": -1151.9876708984375,
                        "y": 3098.24365234375,
                        "z": 353.25555419921875
                    },
                    "rotation": {
                        "roll": 0.00011675962014123797,
                        "pitch": 1.9997358322143555,
                        "yaw": -1.233245611190796
                    }
                },
                "velocity": {
                    "x": 11.723419189453125,
                    "y": -0.2561102509498596,
                    "z": 0.4269501268863678
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4071,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 13.918445587158203,
                "transform": {
                    "location": {
                        "x": -1149.403076171875,
                        "y": 3094.68701171875,
                        "z": 353.3814392089844
                    },
                    "rotation": {
                        "roll": 0.002448702696710825,
                        "pitch": 2.197545051574707,
                        "yaw": -1.2509459257125854
                    }
                },
                "velocity": {
                    "x": 13.905864715576172,
                    "y": -0.3029611110687256,
                    "z": 0.5082044005393982
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4070,
                "type": "vehicle.audi.tt",
                "speed_kmh": 14.563254356384277,
                "transform": {
                    "location": {
                        "x": -1145.9775390625,
                        "y": 3105.11328125,
                        "z": 353.45318603515625
                    },
                    "rotation": {
                        "roll": 0.0015141023322939873,
                        "pitch": 2.142794132232666,
                        "yaw": -1.2671202421188354
                    }
                },
                "velocity": {
                    "x": 14.549996376037598,
                    "y": -0.323407381772995,
                    "z": 0.5304476618766785
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 16.526947021484375,
                "transform": {
                    "location": {
                        "x": -1109.0723876953125,
                        "y": 3076.182861328125,
                        "z": 354.83795166015625
                    },
                    "rotation": {
                        "roll": -0.0003356960660312325,
                        "pitch": -2.073331117630005,
                        "yaw": 178.7187042236328
                    }
                },
                "velocity": {
                    "x": -16.512042999267578,
                    "y": 0.36914360523223877,
                    "z": -0.5967889428138733
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4066,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.670244216918945,
                "transform": {
                    "location": {
                        "x": -1115.1915283203125,
                        "y": 3093.923583984375,
                        "z": 354.58990478515625
                    },
                    "rotation": {
                        "roll": 0.000777950044721365,
                        "pitch": 2.4726102352142334,
                        "yaw": -1.2804259061813354
                    }
                },
                "velocity": {
                    "x": 16.65498161315918,
                    "y": -0.3740379214286804,
                    "z": 0.6072205305099487
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 14.856454849243164,
                "transform": {
                    "location": {
                        "x": -1118.9022216796875,
                        "y": 3097.5078125,
                        "z": 354.4618225097656
                    },
                    "rotation": {
                        "roll": 0.00011209686635993421,
                        "pitch": 2.0118730068206787,
                        "yaw": -1.2779539823532104
                    }
                },
                "velocity": {
                    "x": 14.842936515808105,
                    "y": -0.32899045944213867,
                    "z": 0.5415502786636353
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 15.422393798828125,
                "transform": {
                    "location": {
                        "x": -1127.2117919921875,
                        "y": 3101.1943359375,
                        "z": 354.1541442871094
                    },
                    "rotation": {
                        "roll": -0.000946044223383069,
                        "pitch": 2.301896572113037,
                        "yaw": -1.28204345703125
                    }
                },
                "velocity": {
                    "x": 15.408305168151855,
                    "y": -0.34455081820487976,
                    "z": 0.5618259310722351
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4063,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 15.746519088745117,
                "transform": {
                    "location": {
                        "x": -1116.7420654296875,
                        "y": 3104.929931640625,
                        "z": 354.5388488769531
                    },
                    "rotation": {
                        "roll": -0.351531982421875,
                        "pitch": 2.3700618743896484,
                        "yaw": 4.590028285980225
                    }
                },
                "velocity": {
                    "x": 15.693900108337402,
                    "y": 1.1488028764724731,
                    "z": 0.578450620174408
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4060,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1096.467041015625,
                        "y": 3100.41064453125,
                        "z": 355.244873046875
                    },
                    "rotation": {
                        "roll": 1.668363669438122e-09,
                        "pitch": 1.8150066137313843,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.5311279296875,
                "transform": {
                    "location": {
                        "x": -1148.5499267578125,
                        "y": 3077.06494140625,
                        "z": 353.39251708984375
                    },
                    "rotation": {
                        "roll": 0.0008606172632426023,
                        "pitch": -2.1314356327056885,
                        "yaw": 178.71266174316406
                    }
                },
                "velocity": {
                    "x": -11.520570755004883,
                    "y": 0.25853225588798523,
                    "z": -0.42015907168388367
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.414501190185547,
                "transform": {
                    "location": {
                        "x": -1223.481201171875,
                        "y": 3078.73828125,
                        "z": 349.85888671875
                    },
                    "rotation": {
                        "roll": 0.0008338490151800215,
                        "pitch": -3.013308525085449,
                        "yaw": 178.7135467529297
                    }
                },
                "velocity": {
                    "x": -16.38778305053711,
                    "y": 0.3678033649921417,
                    "z": -0.8608630299568176
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4032,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1325.80859375,
                        "y": 3081.70263671875,
                        "z": 345.7958068847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.9884580969810486,
                        "yaw": 176.8197784423828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1252.5909423828125,
                        "y": 3079.388916015625,
                        "z": 348.4054260253906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.783540964126587,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.43209072947502136,
        "expert_target_speed": 20.0,
        "target_point": [
            20.702630682468882,
            -0.9514402741330379
        ],
        "target_point_next": [
            71.69943808811219,
            -1.5246414510949973
        ]
    },
    "385": {
        "acceleration": [
            -0.3845405578613281,
            0.4538750648498535,
            -0.15531480312347412
        ],
        "angular_velocity": [
            0.9547090530395508,
            0.020859336480498314,
            -2.4923744201660156
        ],
        "forward_vector": [
            -0.998921275138855,
            0.016567938029766083,
            -0.04337891936302185
        ],
        "right_vector": [
            -0.016637802124023438,
            -0.9998608231544495,
            0.0012499747099354863
        ],
        "location": [
            -1171.1151123046875,
            3076.8291015625,
            352.53094482421875
        ],
        "rotation": [
            -0.0716857761144638,
            -2.4862091541290283,
            179.04978942871094
        ],
        "velocity": [
            -11.862672805786133,
            0.22289055585861206,
            -0.499908447265625
        ],
        "speed": 11.864766592606397,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 56.57232666015625,
        "front_vehicle_info": {
            "id": 4039,
            "type": "vehicle.audi.tt",
            "location": [
                -1227.5782470703125,
                3078.83056640625,
                349.6436767578125
            ],
            "velocity": [
                -16.38783073425293,
                0.3686513900756836,
                -0.8537833094596863
            ],
            "speed_kmh": 59.09110731455523,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.06855583190918,
                "transform": {
                    "location": {
                        "x": -1229.494873046875,
                        "y": 3103.3984375,
                        "z": 349.5287780761719
                    },
                    "rotation": {
                        "roll": -0.00823974609375,
                        "pitch": 2.9161696434020996,
                        "yaw": -0.721588134765625
                    }
                },
                "velocity": {
                    "x": 8.057790756225586,
                    "y": -0.08205782622098923,
                    "z": 0.4084912836551666
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4081,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.795932292938232,
                "transform": {
                    "location": {
                        "x": -1229.63134765625,
                        "y": 3099.906494140625,
                        "z": 349.5281982421875
                    },
                    "rotation": {
                        "roll": 0.03880307078361511,
                        "pitch": 2.930697441101074,
                        "yaw": -0.6952208280563354
                    }
                },
                "velocity": {
                    "x": 7.785459041595459,
                    "y": -0.06683729588985443,
                    "z": 0.3984004259109497
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4080,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.995843887329102,
                "transform": {
                    "location": {
                        "x": -1229.6983642578125,
                        "y": 3096.40869140625,
                        "z": 349.5227966308594
                    },
                    "rotation": {
                        "roll": -0.02294921688735485,
                        "pitch": 2.9034109115600586,
                        "yaw": -0.6498717665672302
                    }
                },
                "velocity": {
                    "x": 7.985528469085693,
                    "y": -0.07695620507001877,
                    "z": 0.3986652195453644
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4079,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.860131740570068,
                "transform": {
                    "location": {
                        "x": -1227.2327880859375,
                        "y": 3106.846435546875,
                        "z": 349.6347961425781
                    },
                    "rotation": {
                        "roll": 0.023260807618498802,
                        "pitch": 2.977839469909668,
                        "yaw": -0.8009335994720459
                    }
                },
                "velocity": {
                    "x": 7.848888397216797,
                    "y": -0.1004440188407898,
                    "z": 0.4080829620361328
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1068.3507080078125,
                        "y": 3075.272705078125,
                        "z": 355.9958801269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.2692198753356934,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.136877059936523,
                "transform": {
                    "location": {
                        "x": -1186.6204833984375,
                        "y": 3106.015869140625,
                        "z": 351.79534912109375
                    },
                    "rotation": {
                        "roll": 0.012208052910864353,
                        "pitch": 2.938203811645508,
                        "yaw": -1.1972960233688354
                    }
                },
                "velocity": {
                    "x": 8.125304222106934,
                    "y": -0.1720818430185318,
                    "z": 0.39823082089424133
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4076,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.078102111816406,
                "transform": {
                    "location": {
                        "x": -1188.3134765625,
                        "y": 3102.551513671875,
                        "z": 351.75457763671875
                    },
                    "rotation": {
                        "roll": 0.00801129825413227,
                        "pitch": 2.8331282138824463,
                        "yaw": -1.185211181640625
                    }
                },
                "velocity": {
                    "x": 8.066486358642578,
                    "y": -0.17123818397521973,
                    "z": 0.39775267243385315
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4075,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.059813499450684,
                "transform": {
                    "location": {
                        "x": -1188.1258544921875,
                        "y": 3099.0478515625,
                        "z": 351.7292175292969
                    },
                    "rotation": {
                        "roll": 0.013992470689117908,
                        "pitch": 2.905780792236328,
                        "yaw": -1.1986387968063354
                    }
                },
                "velocity": {
                    "x": 8.048247337341309,
                    "y": -0.17159117758274078,
                    "z": 0.3960517942905426
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4074,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.107095718383789,
                "transform": {
                    "location": {
                        "x": -1188.2528076171875,
                        "y": 3095.54931640625,
                        "z": 351.7351379394531
                    },
                    "rotation": {
                        "roll": 0.003313967492431402,
                        "pitch": 2.7789647579193115,
                        "yaw": -1.1982421875
                    }
                },
                "velocity": {
                    "x": 8.095377922058105,
                    "y": -0.17395681142807007,
                    "z": 0.3995058238506317
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.479997634887695,
                "transform": {
                    "location": {
                        "x": -1148.9588623046875,
                        "y": 3098.177734375,
                        "z": 353.36590576171875
                    },
                    "rotation": {
                        "roll": 0.0005149602075107396,
                        "pitch": 2.003471851348877,
                        "yaw": -1.247039794921875
                    }
                },
                "velocity": {
                    "x": 12.468732833862305,
                    "y": -0.2734881341457367,
                    "z": 0.45413938164711
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4071,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 14.743295669555664,
                "transform": {
                    "location": {
                        "x": -1145.810546875,
                        "y": 3094.608154296875,
                        "z": 353.512451171875
                    },
                    "rotation": {
                        "roll": 0.002624139189720154,
                        "pitch": 2.195885181427002,
                        "yaw": -1.2664794921875
                    }
                },
                "velocity": {
                    "x": 14.729877471923828,
                    "y": -0.3268892168998718,
                    "z": 0.537247896194458
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4070,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.277196884155273,
                "transform": {
                    "location": {
                        "x": -1142.2471923828125,
                        "y": 3105.03076171875,
                        "z": 353.58917236328125
                    },
                    "rotation": {
                        "roll": 0.0008109270129352808,
                        "pitch": 2.1436684131622314,
                        "yaw": -1.2743834257125854
                    }
                },
                "velocity": {
                    "x": 15.263286590576172,
                    "y": -0.3391404151916504,
                    "z": 0.5565946102142334
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 16.483543395996094,
                "transform": {
                    "location": {
                        "x": -1113.1988525390625,
                        "y": 3076.275146484375,
                        "z": 354.6878967285156
                    },
                    "rotation": {
                        "roll": 0.0002661372709553689,
                        "pitch": -2.1178572177886963,
                        "yaw": 178.71807861328125
                    }
                },
                "velocity": {
                    "x": -16.468360900878906,
                    "y": 0.36838558316230774,
                    "z": -0.6038246154785156
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4066,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 17.354021072387695,
                "transform": {
                    "location": {
                        "x": -1110.9390869140625,
                        "y": 3093.82861328125,
                        "z": 354.7451171875
                    },
                    "rotation": {
                        "roll": -0.00039672909770160913,
                        "pitch": 2.456948757171631,
                        "yaw": -1.283904790878296
                    }
                },
                "velocity": {
                    "x": 17.33815574645996,
                    "y": -0.3885219395160675,
                    "z": 0.6320726871490479
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 15.487838745117188,
                "transform": {
                    "location": {
                        "x": -1115.1090087890625,
                        "y": 3097.4228515625,
                        "z": 354.60009765625
                    },
                    "rotation": {
                        "roll": 0.0006801884155720472,
                        "pitch": 2.0124194622039795,
                        "yaw": -1.284576416015625
                    }
                },
                "velocity": {
                    "x": 15.4737548828125,
                    "y": -0.34458011388778687,
                    "z": 0.563330352306366
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 16.244800567626953,
                "transform": {
                    "location": {
                        "x": -1123.2532958984375,
                        "y": 3101.10595703125,
                        "z": 354.2984619140625
                    },
                    "rotation": {
                        "roll": 0.0005368177080526948,
                        "pitch": 2.300851583480835,
                        "yaw": -1.2843016386032104
                    }
                },
                "velocity": {
                    "x": 16.229938507080078,
                    "y": -0.3640081584453583,
                    "z": 0.5917119979858398
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4063,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 16.53508758544922,
                "transform": {
                    "location": {
                        "x": -1112.7244873046875,
                        "y": 3105.306884765625,
                        "z": 354.686279296875
                    },
                    "rotation": {
                        "roll": -0.36392202973365784,
                        "pitch": 2.2472004890441895,
                        "yaw": 7.444262981414795
                    }
                },
                "velocity": {
                    "x": 16.390718460083008,
                    "y": 2.0980539321899414,
                    "z": 0.5929920077323914
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.441977500915527,
                "transform": {
                    "location": {
                        "x": -1151.413818359375,
                        "y": 3077.12890625,
                        "z": 353.2880859375
                    },
                    "rotation": {
                        "roll": -0.00021362114057410508,
                        "pitch": -2.1189568042755127,
                        "yaw": 178.7211456298828
                    }
                },
                "velocity": {
                    "x": -11.431550025939941,
                    "y": 0.25538092851638794,
                    "z": -0.41630175709724426
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.414196014404297,
                "transform": {
                    "location": {
                        "x": -1227.5782470703125,
                        "y": 3078.83056640625,
                        "z": 349.6436767578125
                    },
                    "rotation": {
                        "roll": 0.0010975520126521587,
                        "pitch": -3.012659788131714,
                        "yaw": 178.71029663085938
                    }
                },
                "velocity": {
                    "x": -16.38783073425293,
                    "y": 0.3686513900756836,
                    "z": -0.8537833094596863
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4032,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1330.051025390625,
                        "y": 3081.947998046875,
                        "z": 345.7320251464844
                    },
                    "rotation": {
                        "roll": 3.335353992994783e-09,
                        "pitch": -0.769775927066803,
                        "yaw": 176.5779571533203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1256.8349609375,
                        "y": 3079.483642578125,
                        "z": 348.2005310058594
                    },
                    "rotation": {
                        "roll": 6.677452368819559e-09,
                        "pitch": -2.687856912612915,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.40879902243614197,
        "expert_target_speed": 20.0,
        "target_point": [
            17.753089546018284,
            -0.8414557944426211
        ],
        "target_point_next": [
            68.75227383803518,
            -1.1349293135973775
        ]
    },
    "390": {
        "acceleration": [
            -0.9426116943359375,
            0.5885970592498779,
            -0.15955090522766113
        ],
        "angular_velocity": [
            0.5602948069572449,
            -0.26269853115081787,
            -2.6314709186553955
        ],
        "forward_vector": [
            -0.9986833930015564,
            0.02828645333647728,
            -0.04279402643442154
        ],
        "right_vector": [
            -0.028231333941221237,
            -0.9995995759963989,
            -0.0018919373396784067
        ],
        "location": [
            -1174.10498046875,
            3076.90087890625,
            352.403076171875
        ],
        "rotation": [
            0.10849948227405548,
            -2.4526660442352295,
            178.3776092529297
        ],
        "velocity": [
            -12.05363655090332,
            0.35837554931640625,
            -0.5256633758544922
        ],
        "speed": 12.058962937816018,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 57.682559967041016,
        "front_vehicle_info": {
            "id": 4039,
            "type": "vehicle.audi.tt",
            "location": [
                -1231.675537109375,
                3078.92236328125,
                349.4328308105469
            ],
            "velocity": [
                -16.387592315673828,
                0.3660201132297516,
                -0.8331034183502197
            ],
            "speed_kmh": 59.086212711432005,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.7423601150512695,
                "transform": {
                    "location": {
                        "x": -1227.5223388671875,
                        "y": 3103.374267578125,
                        "z": 349.63031005859375
                    },
                    "rotation": {
                        "roll": 0.03110700473189354,
                        "pitch": 2.96311354637146,
                        "yaw": -0.7163389921188354
                    }
                },
                "velocity": {
                    "x": 7.7312493324279785,
                    "y": -0.10415763407945633,
                    "z": 0.40133780241012573
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4081,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.722634315490723,
                "transform": {
                    "location": {
                        "x": -1227.694580078125,
                        "y": 3099.882080078125,
                        "z": 349.6281433105469
                    },
                    "rotation": {
                        "roll": 0.020753417164087296,
                        "pitch": 2.958195686340332,
                        "yaw": -0.7422484755516052
                    }
                },
                "velocity": {
                    "x": 7.711128234863281,
                    "y": -0.11728261411190033,
                    "z": 0.4047609567642212
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4080,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.658348083496094,
                "transform": {
                    "location": {
                        "x": -1227.7454833984375,
                        "y": 3096.38427734375,
                        "z": 349.6220703125
                    },
                    "rotation": {
                        "roll": 0.0376720055937767,
                        "pitch": 2.947561025619507,
                        "yaw": -0.7348327040672302
                    }
                },
                "velocity": {
                    "x": 7.647398471832275,
                    "y": -0.10958028584718704,
                    "z": 0.3944412171840668
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4079,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.752957344055176,
                "transform": {
                    "location": {
                        "x": -1225.2841796875,
                        "y": 3106.821533203125,
                        "z": 349.7367248535156
                    },
                    "rotation": {
                        "roll": 0.029232891276478767,
                        "pitch": 3.0206918716430664,
                        "yaw": -0.6927489042282104
                    }
                },
                "velocity": {
                    "x": 7.741574764251709,
                    "y": -0.09277287125587463,
                    "z": 0.4095896780490875
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1072.389404296875,
                        "y": 3075.363037109375,
                        "z": 355.9095153808594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.2692198753356934,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.006731986999512,
                "transform": {
                    "location": {
                        "x": -1184.594482421875,
                        "y": 3105.97265625,
                        "z": 351.8937072753906
                    },
                    "rotation": {
                        "roll": 0.007306326646357775,
                        "pitch": 2.8246450424194336,
                        "yaw": -1.2418822050094604
                    }
                },
                "velocity": {
                    "x": 7.995769023895264,
                    "y": -0.17296192049980164,
                    "z": 0.3814665973186493
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4076,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.920333385467529,
                "transform": {
                    "location": {
                        "x": -1186.32470703125,
                        "y": 3102.50927734375,
                        "z": 351.8524169921875
                    },
                    "rotation": {
                        "roll": 0.004017611034214497,
                        "pitch": 2.8151512145996094,
                        "yaw": -1.22198486328125
                    }
                },
                "velocity": {
                    "x": 7.908907890319824,
                    "y": -0.17022548615932465,
                    "z": 0.38971465826034546
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4075,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.91675329208374,
                "transform": {
                    "location": {
                        "x": -1186.142822265625,
                        "y": 3099.005126953125,
                        "z": 351.82684326171875
                    },
                    "rotation": {
                        "roll": 0.009285627864301205,
                        "pitch": 2.8288798332214355,
                        "yaw": -1.2326048612594604
                    }
                },
                "velocity": {
                    "x": 7.9054856300354,
                    "y": -0.17140421271324158,
                    "z": 0.3858673870563507
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4074,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.944177627563477,
                "transform": {
                    "location": {
                        "x": -1186.2489013671875,
                        "y": 3095.506103515625,
                        "z": 351.8334045410156
                    },
                    "rotation": {
                        "roll": 0.0028278310783207417,
                        "pitch": 2.8091132640838623,
                        "yaw": -1.2284849882125854
                    }
                },
                "velocity": {
                    "x": 7.932730674743652,
                    "y": -0.1703549176454544,
                    "z": 0.3907918334007263
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 13.17672348022461,
                "transform": {
                    "location": {
                        "x": -1145.7513427734375,
                        "y": 3098.106689453125,
                        "z": 353.4828186035156
                    },
                    "rotation": {
                        "roll": 0.00048799539217725396,
                        "pitch": 2.0055620670318604,
                        "yaw": -1.269622802734375
                    }
                },
                "velocity": {
                    "x": 13.164762496948242,
                    "y": -0.29152384400367737,
                    "z": 0.4796675145626068
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4071,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 15.397366523742676,
                "transform": {
                    "location": {
                        "x": -1142.073974609375,
                        "y": 3094.52490234375,
                        "z": 353.6487731933594
                    },
                    "rotation": {
                        "roll": 0.0018346227006986737,
                        "pitch": 2.1809544563293457,
                        "yaw": -1.2834471464157104
                    }
                },
                "velocity": {
                    "x": 15.383207321166992,
                    "y": -0.3456664979457855,
                    "z": 0.5624376535415649
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4070,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.911177635192871,
                "transform": {
                    "location": {
                        "x": -1138.3470458984375,
                        "y": 3104.943603515625,
                        "z": 353.73150634765625
                    },
                    "rotation": {
                        "roll": -0.00012206807878101245,
                        "pitch": 2.1404991149902344,
                        "yaw": -1.2814332246780396
                    }
                },
                "velocity": {
                    "x": 15.89663028717041,
                    "y": -0.3552641272544861,
                    "z": 0.5801092982292175
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 15.897701263427734,
                "transform": {
                    "location": {
                        "x": -1117.216796875,
                        "y": 3076.364501953125,
                        "z": 354.54156494140625
                    },
                    "rotation": {
                        "roll": 0.00013706384925171733,
                        "pitch": -2.241633892059326,
                        "yaw": 178.72381591796875
                    }
                },
                "velocity": {
                    "x": -15.883113861083984,
                    "y": 0.355467289686203,
                    "z": -0.5807369947433472
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4066,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 18.041095733642578,
                "transform": {
                    "location": {
                        "x": -1106.51611328125,
                        "y": 3093.729736328125,
                        "z": 354.9042053222656
                    },
                    "rotation": {
                        "roll": -0.0007324191392399371,
                        "pitch": 2.379992961883545,
                        "yaw": -1.2782286405563354
                    }
                },
                "velocity": {
                    "x": 18.025306701660156,
                    "y": -0.4027082622051239,
                    "z": 0.6381760239601135
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 15.99350357055664,
                "transform": {
                    "location": {
                        "x": -1111.16259765625,
                        "y": 3097.3349609375,
                        "z": 354.743896484375
                    },
                    "rotation": {
                        "roll": 0.0008085958543233573,
                        "pitch": 2.0200488567352295,
                        "yaw": -1.2730406522750854
                    }
                },
                "velocity": {
                    "x": 15.978914260864258,
                    "y": -0.35541847348213196,
                    "z": 0.5831918716430664
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 17.0823917388916,
                "transform": {
                    "location": {
                        "x": -1119.086669921875,
                        "y": 3101.0126953125,
                        "z": 354.45037841796875
                    },
                    "rotation": {
                        "roll": -0.0010375964920967817,
                        "pitch": 2.3013434410095215,
                        "yaw": -1.27923583984375
                    }
                },
                "velocity": {
                    "x": 17.066801071166992,
                    "y": -0.3803071081638336,
                    "z": 0.622739851474762
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4063,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1108.146484375,
                        "y": 3105.944580078125,
                        "z": 354.8409729003906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.8450183868408203,
                        "yaw": 10.979940414428711
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.584576606750488,
                "transform": {
                    "location": {
                        "x": -1154.2864990234375,
                        "y": 3077.193115234375,
                        "z": 353.1834411621094
                    },
                    "rotation": {
                        "roll": -0.00048828081344254315,
                        "pitch": -2.0878589153289795,
                        "yaw": 178.72720336914062
                    }
                },
                "velocity": {
                    "x": -11.574057579040527,
                    "y": 0.2574197053909302,
                    "z": -0.4211311936378479
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.412837982177734,
                "transform": {
                    "location": {
                        "x": -1231.675537109375,
                        "y": 3078.92236328125,
                        "z": 349.4328308105469
                    },
                    "rotation": {
                        "roll": 0.0003083051124121994,
                        "pitch": -2.917631149291992,
                        "yaw": 178.72186279296875
                    }
                },
                "velocity": {
                    "x": -16.387592315673828,
                    "y": 0.3660201132297516,
                    "z": -0.8331034183502197
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1261.079345703125,
                        "y": 3079.57861328125,
                        "z": 347.9999084472656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.5830066204071045,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.3604426681995392,
        "expert_target_speed": 20.0,
        "target_point": [
            14.771037803360146,
            -0.6460228664211396
        ],
        "target_point_next": [
            65.770155297678,
            -0.34116231090399096
        ]
    },
    "395": {
        "acceleration": [
            -0.8402061462402344,
            0.34653425216674805,
            -0.10329127311706543
        ],
        "angular_velocity": [
            0.029346926137804985,
            0.015601602382957935,
            -1.3971461057662964
        ],
        "forward_vector": [
            -0.9983362555503845,
            0.03711676225066185,
            -0.04412481188774109
        ],
        "right_vector": [
            -0.03702784329652786,
            -0.9993102550506592,
            -0.0028311237692832947
        ],
        "location": [
            -1177.1451416015625,
            3077.00341796875,
            352.2694091796875
        ],
        "rotation": [
            0.16236980259418488,
            -2.528986692428589,
            177.8708038330078
        ],
        "velocity": [
            -12.2730712890625,
            0.459714412689209,
            -0.5486330389976501
        ],
        "speed": 12.281678069695706,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 58.740501403808594,
        "front_vehicle_info": {
            "id": 4039,
            "type": "vehicle.audi.tt",
            "location": [
                -1235.772216796875,
                3079.013427734375,
                349.224365234375
            ],
            "velocity": [
                -16.387229919433594,
                0.36519384384155273,
                -0.8350796103477478
            ],
            "speed_kmh": 59.08520538132409,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.794147968292236,
                "transform": {
                    "location": {
                        "x": -1225.58251953125,
                        "y": 3103.34716796875,
                        "z": 349.73114013671875
                    },
                    "rotation": {
                        "roll": 0.03077593445777893,
                        "pitch": 3.020336866378784,
                        "yaw": -0.8159484267234802
                    }
                },
                "velocity": {
                    "x": 7.782570838928223,
                    "y": -0.11365935951471329,
                    "z": 0.4091700613498688
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4081,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.255627632141113,
                "transform": {
                    "location": {
                        "x": -1225.7978515625,
                        "y": 3099.853759765625,
                        "z": 349.7268981933594
                    },
                    "rotation": {
                        "roll": 0.020175762474536896,
                        "pitch": 3.0296599864959717,
                        "yaw": -0.8493956923484802
                    }
                },
                "velocity": {
                    "x": 7.2448410987854,
                    "y": -0.11384130269289017,
                    "z": 0.3787444233894348
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4080,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.244749546051025,
                "transform": {
                    "location": {
                        "x": -1225.92822265625,
                        "y": 3096.357177734375,
                        "z": 349.71746826171875
                    },
                    "rotation": {
                        "roll": 0.03663340210914612,
                        "pitch": 2.6653854846954346,
                        "yaw": -0.845733642578125
                    }
                },
                "velocity": {
                    "x": 6.235355854034424,
                    "y": -0.09931743144989014,
                    "z": 0.3276689946651459
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4079,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.535290718078613,
                "transform": {
                    "location": {
                        "x": -1223.373046875,
                        "y": 3106.798095703125,
                        "z": 349.8376770019531
                    },
                    "rotation": {
                        "roll": 0.03124530240893364,
                        "pitch": 3.013930082321167,
                        "yaw": -0.7162474393844604
                    }
                },
                "velocity": {
                    "x": 7.524046421051025,
                    "y": -0.10836322605609894,
                    "z": 0.3969772160053253
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1076.396240234375,
                        "y": 3075.45263671875,
                        "z": 355.8167419433594
                    },
                    "rotation": {
                        "roll": -1.6680091752263593e-09,
                        "pitch": -1.3783526420593262,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.941100597381592,
                "transform": {
                    "location": {
                        "x": -1182.61669921875,
                        "y": 3105.929931640625,
                        "z": 351.9881896972656
                    },
                    "rotation": {
                        "roll": 0.006893497426062822,
                        "pitch": 2.7006566524505615,
                        "yaw": -1.227325439453125
                    }
                },
                "velocity": {
                    "x": 7.930444240570068,
                    "y": -0.1735556423664093,
                    "z": 0.3728455901145935
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4076,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.048027992248535,
                "transform": {
                    "location": {
                        "x": -1184.331787109375,
                        "y": 3102.466552734375,
                        "z": 351.9483642578125
                    },
                    "rotation": {
                        "roll": 0.002628263318911195,
                        "pitch": 2.757258415222168,
                        "yaw": -1.2333678007125854
                    }
                },
                "velocity": {
                    "x": 8.037099838256836,
                    "y": -0.17310041189193726,
                    "z": 0.38186925649642944
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4075,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.067375183105469,
                "transform": {
                    "location": {
                        "x": -1184.1444091796875,
                        "y": 3098.962158203125,
                        "z": 351.9226379394531
                    },
                    "rotation": {
                        "roll": 0.0037625739350914955,
                        "pitch": 2.8095436096191406,
                        "yaw": -1.2403260469436646
                    }
                },
                "velocity": {
                    "x": 8.056325912475586,
                    "y": -0.17439545691013336,
                    "z": 0.38437461853027344
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4074,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.020503997802734,
                "transform": {
                    "location": {
                        "x": -1184.259033203125,
                        "y": 3095.463134765625,
                        "z": 351.9289855957031
                    },
                    "rotation": {
                        "roll": 0.002207161160185933,
                        "pitch": 2.72055983543396,
                        "yaw": -1.23822021484375
                    }
                },
                "velocity": {
                    "x": 8.009668350219727,
                    "y": -0.1730959117412567,
                    "z": 0.37913480401039124
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 13.856887817382812,
                "transform": {
                    "location": {
                        "x": -1142.3709716796875,
                        "y": 3098.03173828125,
                        "z": 353.6060485839844
                    },
                    "rotation": {
                        "roll": 0.0008901956025511026,
                        "pitch": 2.0084922313690186,
                        "yaw": -1.270171880722046
                    }
                },
                "velocity": {
                    "x": 13.844284057617188,
                    "y": -0.3069173991680145,
                    "z": 0.5049225687980652
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4071,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 16.17051887512207,
                "transform": {
                    "location": {
                        "x": -1138.1239013671875,
                        "y": 3094.436279296875,
                        "z": 353.7928161621094
                    },
                    "rotation": {
                        "roll": -0.0012207049876451492,
                        "pitch": 2.185168743133545,
                        "yaw": -1.288726806640625
                    }
                },
                "velocity": {
                    "x": 16.155752182006836,
                    "y": -0.3611096739768982,
                    "z": 0.5890361666679382
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4070,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.338499069213867,
                "transform": {
                    "location": {
                        "x": -1134.29736328125,
                        "y": 3104.853271484375,
                        "z": 353.87921142578125
                    },
                    "rotation": {
                        "roll": 0.00017492413462605327,
                        "pitch": 2.1282527446746826,
                        "yaw": -1.2752381563186646
                    }
                },
                "velocity": {
                    "x": 16.323564529418945,
                    "y": -0.3635540008544922,
                    "z": 0.596332311630249
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 16.318967819213867,
                "transform": {
                    "location": {
                        "x": -1121.236572265625,
                        "y": 3076.45458984375,
                        "z": 354.3933410644531
                    },
                    "rotation": {
                        "roll": -0.0010375984711572528,
                        "pitch": -2.052089214324951,
                        "yaw": 178.7207489013672
                    }
                },
                "velocity": {
                    "x": -16.30414581298828,
                    "y": 0.3625974953174591,
                    "z": -0.5933486819267273
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4066,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1100.6182861328125,
                        "y": 3093.507080078125,
                        "z": 355.1131591796875
                    },
                    "rotation": {
                        "roll": -1.668467364268622e-09,
                        "pitch": 1.9241734743118286,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4065,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1106.2528076171875,
                        "y": 3097.171875,
                        "z": 354.9188537597656
                    },
                    "rotation": {
                        "roll": 3.337154330651515e-09,
                        "pitch": 2.0333266258239746,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 17.515968322753906,
                "transform": {
                    "location": {
                        "x": -1114.7763671875,
                        "y": 3100.91650390625,
                        "z": 354.60833740234375
                    },
                    "rotation": {
                        "roll": -0.00015258556231856346,
                        "pitch": 2.211061954498291,
                        "yaw": -1.276611328125
                    }
                },
                "velocity": {
                    "x": 17.50000762939453,
                    "y": -0.39037343859672546,
                    "z": 0.6375517249107361
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4063,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1102.023681640625,
                        "y": 3107.16455078125,
                        "z": 355.0395202636719
                    },
                    "rotation": {
                        "roll": 1.33470186014506e-08,
                        "pitch": 1.8298622369766235,
                        "yaw": 13.470725059509277
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.810314178466797,
                "transform": {
                    "location": {
                        "x": -1157.20947265625,
                        "y": 3077.258056640625,
                        "z": 353.0767517089844
                    },
                    "rotation": {
                        "roll": -0.000823976646643132,
                        "pitch": -2.078303575515747,
                        "yaw": 178.72427368164062
                    }
                },
                "velocity": {
                    "x": -11.799386978149414,
                    "y": 0.26276811957359314,
                    "z": -0.4346694052219391
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.412555694580078,
                "transform": {
                    "location": {
                        "x": -1235.772216796875,
                        "y": 3079.013427734375,
                        "z": 349.224365234375
                    },
                    "rotation": {
                        "roll": -0.0011901834513992071,
                        "pitch": -2.924898624420166,
                        "yaw": 178.7322235107422
                    }
                },
                "velocity": {
                    "x": -16.387229919433594,
                    "y": 0.36519384384155273,
                    "z": -0.8350796103477478
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1265.3236083984375,
                        "y": 3079.67333984375,
                        "z": 347.80535888671875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.5830066204071045,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.3230935037136078,
        "expert_target_speed": 20.0,
        "target_point": [
            11.734302367656417,
            -0.5258267909430345
        ],
        "target_point_next": [
            62.728728236490674,
            0.23011994363277433
        ]
    },
    "400": {
        "acceleration": [
            -1.3315200805664062,
            -0.0774526596069336,
            -0.11263728141784668
        ],
        "angular_velocity": [
            -0.4507739841938019,
            -0.44750478863716125,
            -0.001196070108562708
        ],
        "forward_vector": [
            -0.9981538653373718,
            0.04123716428875923,
            -0.044590938836336136
        ],
        "right_vector": [
            -0.041171520948410034,
            -0.9991492629051208,
            -0.0023899495135992765
        ],
        "location": [
            -1180.2489013671875,
            3077.1259765625,
            352.1287536621094
        ],
        "rotation": [
            0.13707049190998077,
            -2.555720090866089,
            177.63426208496094
        ],
        "velocity": [
            -12.556574821472168,
            0.5082525610923767,
            -0.5793187022209167
        ],
        "speed": 12.566856882812255,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 59.734493255615234,
        "front_vehicle_info": {
            "id": 4039,
            "type": "vehicle.audi.tt",
            "location": [
                -1239.8695068359375,
                3079.104736328125,
                349.01788330078125
            ],
            "velocity": [
                -16.386274337768555,
                0.36659711599349976,
                -0.811215341091156
            ],
            "speed_kmh": 59.077574068355624,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.18641471862793,
                "transform": {
                    "location": {
                        "x": -1223.9073486328125,
                        "y": 3103.321533203125,
                        "z": 349.8194580078125
                    },
                    "rotation": {
                        "roll": 0.03103582374751568,
                        "pitch": 2.819474697113037,
                        "yaw": -0.8846129179000854
                    }
                },
                "velocity": {
                    "x": 6.176979064941406,
                    "y": -0.1027502790093422,
                    "z": 0.3257276713848114
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4081,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.3239617347717285,
                "transform": {
                    "location": {
                        "x": -1224.161865234375,
                        "y": 3099.828369140625,
                        "z": 349.81256103515625
                    },
                    "rotation": {
                        "roll": 0.019660895690321922,
                        "pitch": 3.0858657360076904,
                        "yaw": -0.8864746689796448
                    }
                },
                "velocity": {
                    "x": 6.314386367797852,
                    "y": -0.09922298043966293,
                    "z": 0.33342665433883667
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4080,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.644735336303711,
                "transform": {
                    "location": {
                        "x": -1224.4805908203125,
                        "y": 3096.334228515625,
                        "z": 349.793701171875
                    },
                    "rotation": {
                        "roll": 0.02484763041138649,
                        "pitch": 2.6694085597991943,
                        "yaw": -0.933502197265625
                    }
                },
                "velocity": {
                    "x": 5.63612699508667,
                    "y": -0.09118413925170898,
                    "z": 0.2979891300201416
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4079,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.946561813354492,
                "transform": {
                    "location": {
                        "x": -1221.4710693359375,
                        "y": 3106.76904296875,
                        "z": 349.9377746582031
                    },
                    "rotation": {
                        "roll": 0.020953863859176636,
                        "pitch": 3.0220305919647217,
                        "yaw": -0.8961485028266907
                    }
                },
                "velocity": {
                    "x": 7.93442440032959,
                    "y": -0.13463759422302246,
                    "z": 0.41788551211357117
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1080.5078125,
                        "y": 3075.544189453125,
                        "z": 355.7147521972656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.4875195026397705,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.071684837341309,
                "transform": {
                    "location": {
                        "x": -1180.6107177734375,
                        "y": 3105.885986328125,
                        "z": 352.081787109375
                    },
                    "rotation": {
                        "roll": 0.0036603554617613554,
                        "pitch": 2.762449264526367,
                        "yaw": -1.2702025175094604
                    }
                },
                "velocity": {
                    "x": 8.0609769821167,
                    "y": -0.17691083252429962,
                    "z": 0.3761090636253357
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4076,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.015482902526855,
                "transform": {
                    "location": {
                        "x": -1182.32275390625,
                        "y": 3102.4228515625,
                        "z": 352.0439758300781
                    },
                    "rotation": {
                        "roll": 0.0015610258560627699,
                        "pitch": 2.6861014366149902,
                        "yaw": -1.2447509765625
                    }
                },
                "velocity": {
                    "x": 8.004820823669434,
                    "y": -0.17622749507427216,
                    "z": 0.3738357424736023
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4075,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.991046905517578,
                "transform": {
                    "location": {
                        "x": -1182.138427734375,
                        "y": 3098.91845703125,
                        "z": 352.01788330078125
                    },
                    "rotation": {
                        "roll": 0.004727154970169067,
                        "pitch": 2.7210311889648438,
                        "yaw": -1.25140380859375
                    }
                },
                "velocity": {
                    "x": 7.980368614196777,
                    "y": -0.17546235024929047,
                    "z": 0.37384918332099915
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4074,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.9819464683532715,
                "transform": {
                    "location": {
                        "x": -1182.2603759765625,
                        "y": 3095.419921875,
                        "z": 352.0238952636719
                    },
                    "rotation": {
                        "roll": 0.0013469518162310123,
                        "pitch": 2.6600239276885986,
                        "yaw": -1.2439574003219604
                    }
                },
                "velocity": {
                    "x": 7.971316337585449,
                    "y": -0.17468614876270294,
                    "z": 0.3729225695133209
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 14.514106750488281,
                "transform": {
                    "location": {
                        "x": -1138.82421875,
                        "y": 3097.953125,
                        "z": 353.7353820800781
                    },
                    "rotation": {
                        "roll": -0.00082397396909073,
                        "pitch": 2.0113675594329834,
                        "yaw": -1.275634765625
                    }
                },
                "velocity": {
                    "x": 14.500894546508789,
                    "y": -0.32282835245132446,
                    "z": 0.5283474326133728
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4071,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 16.861736297607422,
                "transform": {
                    "location": {
                        "x": -1133.994873046875,
                        "y": 3094.343994140625,
                        "z": 353.94342041015625
                    },
                    "rotation": {
                        "roll": -0.0003356953093316406,
                        "pitch": 2.177067995071411,
                        "yaw": -1.2758787870407104
                    }
                },
                "velocity": {
                    "x": 16.846345901489258,
                    "y": -0.3767341673374176,
                    "z": 0.6139017343521118
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4070,
                "type": "vehicle.audi.tt",
                "speed_kmh": 17.07927894592285,
                "transform": {
                    "location": {
                        "x": -1130.1258544921875,
                        "y": 3104.7646484375,
                        "z": 354.03125
                    },
                    "rotation": {
                        "roll": -0.012756346724927425,
                        "pitch": 2.1416194438934326,
                        "yaw": -1.10272216796875
                    }
                },
                "velocity": {
                    "x": 17.066036224365234,
                    "y": -0.25222012400627136,
                    "z": 0.6233428120613098
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 16.42079734802246,
                "transform": {
                    "location": {
                        "x": -1125.3514404296875,
                        "y": 3076.546142578125,
                        "z": 354.2431945800781
                    },
                    "rotation": {
                        "roll": -0.00021362410916481167,
                        "pitch": -2.0169341564178467,
                        "yaw": 178.7263946533203
                    }
                },
                "velocity": {
                    "x": -16.405853271484375,
                    "y": 0.3652045428752899,
                    "z": -0.5976763963699341
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4064,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1109.61865234375,
                        "y": 3100.77392578125,
                        "z": 354.79510498046875
                    },
                    "rotation": {
                        "roll": 3.337154330651515e-09,
                        "pitch": 2.0333266258239746,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.044130325317383,
                "transform": {
                    "location": {
                        "x": -1160.1884765625,
                        "y": 3077.324951171875,
                        "z": 352.9661560058594
                    },
                    "rotation": {
                        "roll": 0.0010945632820948958,
                        "pitch": -2.136523962020874,
                        "yaw": 178.71475219726562
                    }
                },
                "velocity": {
                    "x": -12.032649993896484,
                    "y": 0.2696821391582489,
                    "z": -0.451322078704834
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.410436630249023,
                "transform": {
                    "location": {
                        "x": -1239.8695068359375,
                        "y": 3079.104736328125,
                        "z": 349.01788330078125
                    },
                    "rotation": {
                        "roll": -0.0007629379397258162,
                        "pitch": -2.8318440914154053,
                        "yaw": 178.71566772460938
                    }
                },
                "velocity": {
                    "x": -16.386274337768555,
                    "y": 0.36659711599349976,
                    "z": -0.811215341091156
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1269.568603515625,
                        "y": 3079.76806640625,
                        "z": 347.6179504394531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.478149652481079,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.28633061051368713,
        "expert_target_speed": 20.0,
        "target_point": [
            8.630199808940546,
            -0.48304095040224837
        ],
        "target_point_next": [
            59.621070216018744,
            0.48342699324860505
        ]
    },
    "405": {
        "acceleration": [
            -1.1838912963867188,
            -0.5991345643997192,
            -0.09185194969177246
        ],
        "angular_velocity": [
            -0.7173242568969727,
            0.08363319933414459,
            2.6497998237609863
        ],
        "forward_vector": [
            -0.9983572363853455,
            0.03458500653505325,
            -0.04567916318774223
        ],
        "right_vector": [
            -0.034633200615644455,
            -0.9994000196456909,
            0.0002639097801875323
        ],
        "location": [
            -1183.4276123046875,
            3077.24365234375,
            351.98065185546875
        ],
        "rotation": [
            -0.01513671688735485,
            -2.6181342601776123,
            178.01596069335938
        ],
        "velocity": [
            -12.868460655212402,
            0.41864752769470215,
            -0.6083595752716064
        ],
        "speed": 12.87526875009584,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.652671813964844,
        "front_vehicle_info": {
            "id": 4039,
            "type": "vehicle.audi.tt",
            "location": [
                -1243.9661865234375,
                3079.1962890625,
                348.81597900390625
            ],
            "velocity": [
                -16.385995864868164,
                0.36525022983551025,
                -0.8070871829986572
            ],
            "speed_kmh": 59.07573213118417,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4083,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1260.861083984375,
                        "y": 3107.579833984375,
                        "z": 348.2878723144531
                    },
                    "rotation": {
                        "roll": -3.3387261844097793e-09,
                        "pitch": 2.687856912612915,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.126242160797119,
                "transform": {
                    "location": {
                        "x": -1222.3709716796875,
                        "y": 3103.294189453125,
                        "z": 349.90045166015625
                    },
                    "rotation": {
                        "roll": 0.022331831976771355,
                        "pitch": 2.975735664367676,
                        "yaw": -1.00128173828125
                    }
                },
                "velocity": {
                    "x": 6.11674690246582,
                    "y": -0.11300476640462875,
                    "z": 0.3216770887374878
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4081,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.673958778381348,
                "transform": {
                    "location": {
                        "x": -1222.556884765625,
                        "y": 3099.79931640625,
                        "z": 349.8980407714844
                    },
                    "rotation": {
                        "roll": 0.011740533635020256,
                        "pitch": 2.9794375896453857,
                        "yaw": -1.000701904296875
                    }
                },
                "velocity": {
                    "x": 6.663515567779541,
                    "y": -0.12865985929965973,
                    "z": 0.3503359854221344
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4080,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.729144096374512,
                "transform": {
                    "location": {
                        "x": -1223.012451171875,
                        "y": 3096.308349609375,
                        "z": 349.8693542480469
                    },
                    "rotation": {
                        "roll": 0.03812188655138016,
                        "pitch": 3.1546523571014404,
                        "yaw": -0.93017578125
                    }
                },
                "velocity": {
                    "x": 6.718663692474365,
                    "y": -0.12516967952251434,
                    "z": 0.35393378138542175
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4079,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.237447738647461,
                "transform": {
                    "location": {
                        "x": -1219.4127197265625,
                        "y": 3106.73388671875,
                        "z": 350.04608154296875
                    },
                    "rotation": {
                        "roll": 0.015240320935845375,
                        "pitch": 3.024059295654297,
                        "yaw": -1.008209228515625
                    }
                },
                "velocity": {
                    "x": 8.22471809387207,
                    "y": -0.1472354233264923,
                    "z": 0.43344640731811523
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1084.4984130859375,
                        "y": 3075.63330078125,
                        "z": 355.60980224609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.596672773361206,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.972327709197998,
                "transform": {
                    "location": {
                        "x": -1178.609130859375,
                        "y": 3105.841796875,
                        "z": 352.1736755371094
                    },
                    "rotation": {
                        "roll": 0.003423042129725218,
                        "pitch": 2.63604998588562,
                        "yaw": -1.2453001737594604
                    }
                },
                "velocity": {
                    "x": 7.9622087478637695,
                    "y": -0.17514987289905548,
                    "z": 0.36133795976638794
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4076,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.968746185302734,
                "transform": {
                    "location": {
                        "x": -1180.332763671875,
                        "y": 3102.37939453125,
                        "z": 352.13677978515625
                    },
                    "rotation": {
                        "roll": 0.001122739166021347,
                        "pitch": 2.6831576824188232,
                        "yaw": -1.2579039335250854
                    }
                },
                "velocity": {
                    "x": 7.958521366119385,
                    "y": -0.1747211366891861,
                    "z": 0.3637664020061493
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4075,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.993696212768555,
                "transform": {
                    "location": {
                        "x": -1180.1475830078125,
                        "y": 3098.87451171875,
                        "z": 352.11053466796875
                    },
                    "rotation": {
                        "roll": 0.0030542260501533747,
                        "pitch": 2.7114620208740234,
                        "yaw": -1.2554014921188354
                    }
                },
                "velocity": {
                    "x": 7.983386039733887,
                    "y": -0.1760108917951584,
                    "z": 0.3657139539718628
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4074,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.023660659790039,
                "transform": {
                    "location": {
                        "x": -1180.2625732421875,
                        "y": 3095.3759765625,
                        "z": 352.1170349121094
                    },
                    "rotation": {
                        "roll": 0.0017938517266884446,
                        "pitch": 2.658766984939575,
                        "yaw": -1.25445556640625
                    }
                },
                "velocity": {
                    "x": 8.013401985168457,
                    "y": -0.17537322640419006,
                    "z": 0.365740031003952
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 15.154285430908203,
                "transform": {
                    "location": {
                        "x": -1135.115478515625,
                        "y": 3097.869873046875,
                        "z": 353.87060546875
                    },
                    "rotation": {
                        "roll": -1.6685550718875675e-09,
                        "pitch": 2.0118184089660645,
                        "yaw": -1.282562017440796
                    }
                },
                "velocity": {
                    "x": 15.140448570251465,
                    "y": -0.3387009799480438,
                    "z": 0.551796555519104
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4071,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 17.54537582397461,
                "transform": {
                    "location": {
                        "x": -1129.6944580078125,
                        "y": 3094.248046875,
                        "z": 354.1003112792969
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": 2.1752307415008545,
                        "yaw": -1.2835997343063354
                    }
                },
                "velocity": {
                    "x": 17.52934455871582,
                    "y": -0.392431378364563,
                    "z": 0.6389524936676025
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4070,
                "type": "vehicle.audi.tt",
                "speed_kmh": 17.658414840698242,
                "transform": {
                    "location": {
                        "x": -1125.7818603515625,
                        "y": 3104.72900390625,
                        "z": 354.1902770996094
                    },
                    "rotation": {
                        "roll": -0.01007079891860485,
                        "pitch": 2.1447885036468506,
                        "yaw": 0.1854422390460968
                    }
                },
                "velocity": {
                    "x": 17.64659881591797,
                    "y": 0.033390287309885025,
                    "z": 0.6450269818305969
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 15.29999828338623,
                "transform": {
                    "location": {
                        "x": -1129.3040771484375,
                        "y": 3076.63427734375,
                        "z": 354.1015930175781
                    },
                    "rotation": {
                        "roll": 0.0011150756618008018,
                        "pitch": -2.3290398120880127,
                        "yaw": 178.72039794921875
                    }
                },
                "velocity": {
                    "x": -15.28601360321045,
                    "y": 0.3422413468360901,
                    "z": -0.5573281049728394
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.324983596801758,
                "transform": {
                    "location": {
                        "x": -1163.2315673828125,
                        "y": 3077.39306640625,
                        "z": 352.85064697265625
                    },
                    "rotation": {
                        "roll": 0.001050422666594386,
                        "pitch": -2.169766664505005,
                        "yaw": 178.71542358398438
                    }
                },
                "velocity": {
                    "x": -12.312681198120117,
                    "y": 0.2761003077030182,
                    "z": -0.4763101041316986
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.40992546081543,
                "transform": {
                    "location": {
                        "x": -1243.9661865234375,
                        "y": 3079.1962890625,
                        "z": 348.81597900390625
                    },
                    "rotation": {
                        "roll": -0.00042724775266833603,
                        "pitch": -2.8299522399902344,
                        "yaw": 178.71646118164062
                    }
                },
                "velocity": {
                    "x": -16.385995864868164,
                    "y": 0.36525022983551025,
                    "z": -0.8070871829986572
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1273.8133544921875,
                        "y": 3079.86279296875,
                        "z": 347.4376220703125
                    },
                    "rotation": {
                        "roll": -1.6689581938678089e-09,
                        "pitch": -2.3733267784118652,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.28148049116134644,
        "expert_target_speed": 20.0,
        "target_point": [
            56.44208832370081,
            0.09378521708956344
        ],
        "target_point_next": [
            107.49288884047525,
            0.7092392985613807
        ]
    },
    "410": {
        "acceleration": [
            -1.3767814636230469,
            -0.43692827224731445,
            -0.08515477180480957
        ],
        "angular_velocity": [
            -0.2882106900215149,
            -0.6373003721237183,
            2.407135009765625
        ],
        "forward_vector": [
            -0.9986509680747986,
            0.021528877317905426,
            -0.047251857817173004
        ],
        "right_vector": [
            -0.02167954109609127,
            -0.9997614026069641,
            0.002678272081539035
        ],
        "location": [
            -1186.6866455078125,
            3077.33056640625,
            351.82440185546875
        ],
        "rotation": [
            -0.1536254733800888,
            -2.708340644836426,
            178.7650146484375
        ],
        "velocity": [
            -13.196834564208984,
            0.27899375557899475,
            -0.6408718228340149
        ],
        "speed": 13.199783332720012,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.491004943847656,
        "front_vehicle_info": {
            "id": 4039,
            "type": "vehicle.audi.tt",
            "location": [
                -1248.0626220703125,
                3079.287353515625,
                348.6143798828125
            ],
            "velocity": [
                -16.385255813598633,
                0.36767566204071045,
                -0.7991413474082947
            ],
            "speed_kmh": 59.071866805613176,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4087,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1042.939453125,
                        "y": 3074.705322265625,
                        "z": 356.46044921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7753903269767761,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4086,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1262.978271484375,
                        "y": 3100.6259765625,
                        "z": 348.0787353515625
                    },
                    "rotation": {
                        "roll": -3.3387261844097793e-09,
                        "pitch": 2.687856912612915,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4085,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1263.0567626953125,
                        "y": 3097.12646484375,
                        "z": 348.0787353515625
                    },
                    "rotation": {
                        "roll": -3.3387261844097793e-09,
                        "pitch": 2.687856912612915,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4084,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1261.509033203125,
                        "y": 3104.093994140625,
                        "z": 348.14935302734375
                    },
                    "rotation": {
                        "roll": -3.3387261844097793e-09,
                        "pitch": 2.687856912612915,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4083,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1258.791015625,
                        "y": 3107.533935546875,
                        "z": 348.1452941894531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.7835137844085693,
                        "yaw": -1.2797242403030396
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.27238941192627,
                "transform": {
                    "location": {
                        "x": -1220.55419921875,
                        "y": 3103.26025390625,
                        "z": 349.9961242675781
                    },
                    "rotation": {
                        "roll": 0.01778881996870041,
                        "pitch": 3.3495655059814453,
                        "yaw": -1.064452886581421
                    }
                },
                "velocity": {
                    "x": 8.259456634521484,
                    "y": -0.15608201920986176,
                    "z": 0.43524619936943054
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4081,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.581232070922852,
                "transform": {
                    "location": {
                        "x": -1220.8060302734375,
                        "y": 3099.76611328125,
                        "z": 349.9905700683594
                    },
                    "rotation": {
                        "roll": 0.010001040063798428,
                        "pitch": 2.936919689178467,
                        "yaw": -1.0912474393844604
                    }
                },
                "velocity": {
                    "x": 7.569392681121826,
                    "y": -0.14618739485740662,
                    "z": 0.39749792218208313
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4080,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.160472869873047,
                "transform": {
                    "location": {
                        "x": -1221.1181640625,
                        "y": 3096.272705078125,
                        "z": 349.9674987792969
                    },
                    "rotation": {
                        "roll": 0.02657056227326393,
                        "pitch": 3.577953338623047,
                        "yaw": -1.0655518770217896
                    }
                },
                "velocity": {
                    "x": 8.1476411819458,
                    "y": -0.15756595134735107,
                    "z": 0.4294635057449341
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4079,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.865769386291504,
                "transform": {
                    "location": {
                        "x": -1217.4146728515625,
                        "y": 3106.69677734375,
                        "z": 350.15277099609375
                    },
                    "rotation": {
                        "roll": 0.011767127551138401,
                        "pitch": 3.06982159614563,
                        "yaw": -1.09661865234375
                    }
                },
                "velocity": {
                    "x": 7.852838516235352,
                    "y": -0.15612059831619263,
                    "z": 0.42294859886169434
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1088.424072265625,
                        "y": 3075.72119140625,
                        "z": 355.5008239746094
                    },
                    "rotation": {
                        "roll": -1.6682658587896526e-09,
                        "pitch": -1.7058396339416504,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.012918472290039,
                "transform": {
                    "location": {
                        "x": -1176.6168212890625,
                        "y": 3105.7978515625,
                        "z": 352.263427734375
                    },
                    "rotation": {
                        "roll": 0.0028735529631376266,
                        "pitch": 2.593149423599243,
                        "yaw": -1.2849730253219604
                    }
                },
                "velocity": {
                    "x": 8.002975463867188,
                    "y": -0.17927062511444092,
                    "z": 0.3565172553062439
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4076,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.053022384643555,
                "transform": {
                    "location": {
                        "x": -1178.3299560546875,
                        "y": 3102.3349609375,
                        "z": 352.22821044921875
                    },
                    "rotation": {
                        "roll": 0.0014632301172241569,
                        "pitch": 2.59151029586792,
                        "yaw": -1.2638856172561646
                    }
                },
                "velocity": {
                    "x": 8.0428466796875,
                    "y": -0.17902424931526184,
                    "z": 0.3629603385925293
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4075,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.034493446350098,
                "transform": {
                    "location": {
                        "x": -1178.1441650390625,
                        "y": 3098.830322265625,
                        "z": 352.20184326171875
                    },
                    "rotation": {
                        "roll": 0.0023778544273227453,
                        "pitch": 2.6274027824401855,
                        "yaw": -1.268829345703125
                    }
                },
                "velocity": {
                    "x": 8.02424144744873,
                    "y": -0.17780393362045288,
                    "z": 0.36470329761505127
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4074,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.969912528991699,
                "transform": {
                    "location": {
                        "x": -1178.2667236328125,
                        "y": 3095.331787109375,
                        "z": 352.207763671875
                    },
                    "rotation": {
                        "roll": 7.154839840950444e-05,
                        "pitch": 2.56242036819458,
                        "yaw": -1.267425537109375
                    }
                },
                "velocity": {
                    "x": 7.959883689880371,
                    "y": -0.17642703652381897,
                    "z": 0.3586479127407074
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 15.778084754943848,
                "transform": {
                    "location": {
                        "x": -1131.2489013671875,
                        "y": 3097.78369140625,
                        "z": 354.0115966796875
                    },
                    "rotation": {
                        "roll": -0.00024414158542640507,
                        "pitch": 2.013826608657837,
                        "yaw": -1.278656005859375
                    }
                },
                "velocity": {
                    "x": 15.763703346252441,
                    "y": -0.3519381880760193,
                    "z": 0.5742431282997131
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4071,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 18.231470108032227,
                "transform": {
                    "location": {
                        "x": -1125.22314453125,
                        "y": 3094.14794921875,
                        "z": 354.2633056640625
                    },
                    "rotation": {
                        "roll": 0.00046353443758562207,
                        "pitch": 2.17490291595459,
                        "yaw": -1.2744444608688354
                    }
                },
                "velocity": {
                    "x": 18.214824676513672,
                    "y": -0.40568041801452637,
                    "z": 0.6649063229560852
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4070,
                "type": "vehicle.audi.tt",
                "speed_kmh": 18.184398651123047,
                "transform": {
                    "location": {
                        "x": -1121.302734375,
                        "y": 3104.80859375,
                        "z": 354.35589599609375
                    },
                    "rotation": {
                        "roll": -0.0603942908346653,
                        "pitch": 2.170435905456543,
                        "yaw": 2.2142174243927
                    }
                },
                "velocity": {
                    "x": 18.16053009033203,
                    "y": 0.6397500038146973,
                    "z": 0.6769407391548157
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 15.434932708740234,
                "transform": {
                    "location": {
                        "x": -1133.125244140625,
                        "y": 3076.7197265625,
                        "z": 353.9609680175781
                    },
                    "rotation": {
                        "roll": 0.0002450463070999831,
                        "pitch": -2.1760504245758057,
                        "yaw": 178.71766662597656
                    }
                },
                "velocity": {
                    "x": -15.420857429504395,
                    "y": 0.34364816546440125,
                    "z": -0.5623438954353333
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.637601852416992,
                "transform": {
                    "location": {
                        "x": -1166.3494873046875,
                        "y": 3077.46240234375,
                        "z": 352.7282409667969
                    },
                    "rotation": {
                        "roll": -0.0018005382735282183,
                        "pitch": -2.2640368938446045,
                        "yaw": 178.72662353515625
                    }
                },
                "velocity": {
                    "x": -12.62428092956543,
                    "y": 0.28097960352897644,
                    "z": -0.5074924230575562
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.408851623535156,
                "transform": {
                    "location": {
                        "x": -1248.0626220703125,
                        "y": 3079.287353515625,
                        "z": 348.6143798828125
                    },
                    "rotation": {
                        "roll": -6.1034912505419925e-05,
                        "pitch": -2.811640501022339,
                        "yaw": 178.72189331054688
                    }
                },
                "velocity": {
                    "x": -16.385255813598633,
                    "y": 0.36767566204071045,
                    "z": -0.7991413474082947
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1278.0587158203125,
                        "y": 3079.957763671875,
                        "z": 347.2635803222656
                    },
                    "rotation": {
                        "roll": -1.6688344040005632e-09,
                        "pitch": -2.268462896347046,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.30375808477401733,
        "expert_target_speed": 20.0,
        "target_point": [
            53.1783416468285,
            -0.6274416618951042
        ],
        "target_point_next": [
            104.23282542878832,
            -0.6794309636882314
        ]
    },
    "415": {
        "acceleration": [
            -1.2160873413085938,
            -0.2794340252876282,
            -0.22167563438415527
        ],
        "angular_velocity": [
            0.10342547297477722,
            -0.3420358896255493,
            1.623172402381897
        ],
        "forward_vector": [
            -0.9987698197364807,
            0.012584309093654156,
            -0.047963324934244156
        ],
        "right_vector": [
            -0.012760128825902939,
            -0.9999129176139832,
            0.003361291252076626
        ],
        "location": [
            -1190.0262451171875,
            3077.38671875,
            351.6596374511719
        ],
        "rotation": [
            -0.19281005859375,
            -2.7491509914398193,
            179.2781219482422
        ],
        "velocity": [
            -13.512129783630371,
            0.16913455724716187,
            -0.6778759360313416
        ],
        "speed": 13.513188291003946,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 62.24937057495117,
        "front_vehicle_info": {
            "id": 4039,
            "type": "vehicle.audi.tt",
            "location": [
                -1252.1590576171875,
                3079.37939453125,
                348.4150695800781
            ],
            "velocity": [
                -16.385498046875,
                0.3655420243740082,
                -0.7948164939880371
            ],
            "speed_kmh": 59.071809775509415,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4087,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1046.8582763671875,
                        "y": 3074.79296875,
                        "z": 356.3817138671875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7753903269767761,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4086,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1260.895751953125,
                        "y": 3100.5791015625,
                        "z": 348.0656433105469
                    },
                    "rotation": {
                        "roll": -3.3387261844097793e-09,
                        "pitch": 2.687856912612915,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4085,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1260.9742431640625,
                        "y": 3097.07958984375,
                        "z": 348.0656433105469
                    },
                    "rotation": {
                        "roll": -3.3387261844097793e-09,
                        "pitch": 2.687856912612915,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4084,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1259.4281005859375,
                        "y": 3104.04736328125,
                        "z": 348.061279296875
                    },
                    "rotation": {
                        "roll": -3.3387261844097793e-09,
                        "pitch": 2.687856912612915,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4083,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1256.7091064453125,
                        "y": 3107.487060546875,
                        "z": 348.2136535644531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.7835137844085693,
                        "yaw": -1.2797242403030396
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.05301570892334,
                "transform": {
                    "location": {
                        "x": -1218.47802734375,
                        "y": 3103.22021484375,
                        "z": 350.10601806640625
                    },
                    "rotation": {
                        "roll": 0.015135012567043304,
                        "pitch": 3.1153037548065186,
                        "yaw": -1.1122437715530396
                    }
                },
                "velocity": {
                    "x": 8.039905548095703,
                    "y": -0.161028191447258,
                    "z": 0.43016350269317627
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4081,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.48422908782959,
                "transform": {
                    "location": {
                        "x": -1218.715576171875,
                        "y": 3099.725341796875,
                        "z": 350.10101318359375
                    },
                    "rotation": {
                        "roll": 0.0067982980981469154,
                        "pitch": 2.923915147781372,
                        "yaw": -1.1076966524124146
                    }
                },
                "velocity": {
                    "x": 8.470300674438477,
                    "y": -0.17422819137573242,
                    "z": 0.45364898443222046
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4080,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.120755195617676,
                "transform": {
                    "location": {
                        "x": -1219.0521240234375,
                        "y": 3096.232421875,
                        "z": 350.07745361328125
                    },
                    "rotation": {
                        "roll": 0.02214030548930168,
                        "pitch": 3.3071296215057373,
                        "yaw": -1.1102601289749146
                    }
                },
                "velocity": {
                    "x": 8.107559204101562,
                    "y": -0.1639041304588318,
                    "z": 0.43276718258857727
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4079,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.936925411224365,
                "transform": {
                    "location": {
                        "x": -1215.4337158203125,
                        "y": 3106.657470703125,
                        "z": 350.25927734375
                    },
                    "rotation": {
                        "roll": 0.00726409163326025,
                        "pitch": 3.117147922515869,
                        "yaw": -1.1690367460250854
                    }
                },
                "velocity": {
                    "x": 7.923520565032959,
                    "y": -0.1637905091047287,
                    "z": 0.43102210760116577
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1092.3572998046875,
                        "y": 3075.809326171875,
                        "z": 355.3871765136719
                    },
                    "rotation": {
                        "roll": -1.6682658587896526e-09,
                        "pitch": -1.7058396339416504,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.021754264831543,
                "transform": {
                    "location": {
                        "x": -1174.6123046875,
                        "y": 3105.75341796875,
                        "z": 352.3521423339844
                    },
                    "rotation": {
                        "roll": 0.0014784097438678145,
                        "pitch": 2.591066360473633,
                        "yaw": -1.255553960800171
                    }
                },
                "velocity": {
                    "x": 8.012219429016113,
                    "y": -0.17642776668071747,
                    "z": 0.3489338457584381
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4076,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.96978759765625,
                "transform": {
                    "location": {
                        "x": -1176.33056640625,
                        "y": 3102.29052734375,
                        "z": 352.3179931640625
                    },
                    "rotation": {
                        "roll": -0.0012817374663427472,
                        "pitch": 2.554716110229492,
                        "yaw": -1.271575927734375
                    }
                },
                "velocity": {
                    "x": 7.960025310516357,
                    "y": -0.17461003363132477,
                    "z": 0.35358336567878723
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4075,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.982913017272949,
                "transform": {
                    "location": {
                        "x": -1176.1461181640625,
                        "y": 3098.785888671875,
                        "z": 352.2914123535156
                    },
                    "rotation": {
                        "roll": 0.0010195316281169653,
                        "pitch": 2.5877535343170166,
                        "yaw": -1.2796324491500854
                    }
                },
                "velocity": {
                    "x": 7.97311544418335,
                    "y": -0.17708171904087067,
                    "z": 0.35351333022117615
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4074,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.032135009765625,
                "transform": {
                    "location": {
                        "x": -1176.2685546875,
                        "y": 3095.287353515625,
                        "z": 352.29736328125
                    },
                    "rotation": {
                        "roll": -6.1034363170620054e-05,
                        "pitch": 2.532060384750366,
                        "yaw": -1.277740240097046
                    }
                },
                "velocity": {
                    "x": 8.022231101989746,
                    "y": -0.17893920838832855,
                    "z": 0.356341153383255
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 16.265228271484375,
                "transform": {
                    "location": {
                        "x": -1127.2572021484375,
                        "y": 3097.6943359375,
                        "z": 354.1569519042969
                    },
                    "rotation": {
                        "roll": -0.00057983462465927,
                        "pitch": 2.0353620052337646,
                        "yaw": -1.283599853515625
                    }
                },
                "velocity": {
                    "x": 16.250343322753906,
                    "y": -0.3641446530818939,
                    "z": 0.5927915573120117
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4071,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 18.921375274658203,
                "transform": {
                    "location": {
                        "x": -1120.5799560546875,
                        "y": 3094.044677734375,
                        "z": 354.4326171875
                    },
                    "rotation": {
                        "roll": -0.0008850087760947645,
                        "pitch": 2.1751692295074463,
                        "yaw": -1.2772216796875
                    }
                },
                "velocity": {
                    "x": 18.904125213623047,
                    "y": -0.4213840365409851,
                    "z": 0.6891955137252808
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4070,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1115.066162109375,
                        "y": 3105.01953125,
                        "z": 354.59375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.893977165222168,
                        "yaw": 7.771931171417236
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.794599533081055,
                "transform": {
                    "location": {
                        "x": -1136.9132080078125,
                        "y": 3076.80419921875,
                        "z": 353.82275390625
                    },
                    "rotation": {
                        "roll": -0.0006713861948810518,
                        "pitch": -2.159794569015503,
                        "yaw": 178.7185821533203
                    }
                },
                "velocity": {
                    "x": -14.781099319458008,
                    "y": 0.33027949929237366,
                    "z": -0.5386985540390015
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.939881324768066,
                "transform": {
                    "location": {
                        "x": -1169.5443115234375,
                        "y": 3077.53369140625,
                        "z": 352.59820556640625
                    },
                    "rotation": {
                        "roll": -0.001434325473383069,
                        "pitch": -2.342010259628296,
                        "yaw": 178.72274780273438
                    }
                },
                "velocity": {
                    "x": -12.925756454467773,
                    "y": 0.28820744156837463,
                    "z": -0.5312930941581726
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.408836364746094,
                "transform": {
                    "location": {
                        "x": -1252.1590576171875,
                        "y": 3079.37939453125,
                        "z": 348.4150695800781
                    },
                    "rotation": {
                        "roll": -0.0002746523532550782,
                        "pitch": -2.784271717071533,
                        "yaw": 178.71385192871094
                    }
                },
                "velocity": {
                    "x": -16.385498046875,
                    "y": 0.3655420243740082,
                    "z": -0.7948164939880371
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1282.3043212890625,
                        "y": 3080.052734375,
                        "z": 347.09588623046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.1635990142822266,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.325208842754364,
        "expert_target_speed": 20.0,
        "target_point": [
            49.830548226449935,
            -1.089574186590162
        ],
        "target_point_next": [
            100.88251913916335,
            -1.598772632543774
        ]
    },
    "420": {
        "acceleration": [
            -1.4802932739257812,
            0.41749387979507446,
            -0.17408251762390137
        ],
        "angular_velocity": [
            0.6898179054260254,
            -0.08717326074838638,
            -2.1091294288635254
        ],
        "forward_vector": [
            -0.9986205101013184,
            0.01585635170340538,
            -0.05005662888288498
        ],
        "right_vector": [
            -0.015905681997537613,
            -0.9998732805252075,
            0.0005872886977158487
        ],
        "location": [
            -1193.44677734375,
            3077.436767578125,
            351.4859619140625
        ],
        "rotation": [
            -0.0336914025247097,
            -2.869232654571533,
            179.09031677246094
        ],
        "velocity": [
            -13.853822708129883,
            0.24086415767669678,
            -0.7153533697128296
        ],
        "speed": 13.85591639592086,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 62.92658615112305,
        "front_vehicle_info": {
            "id": 4039,
            "type": "vehicle.audi.tt",
            "location": [
                -1256.2554931640625,
                3079.470458984375,
                348.21728515625
            ],
            "velocity": [
                -16.38437271118164,
                0.36369937658309937,
                -0.7784878611564636
            ],
            "speed_kmh": 59.06479854228993,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4087,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1050.8599853515625,
                        "y": 3074.882080078125,
                        "z": 356.31884765625
                    },
                    "rotation": {
                        "roll": -8.338676416030921e-10,
                        "pitch": -0.9065504670143127,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4086,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1258.81396484375,
                        "y": 3100.53271484375,
                        "z": 348.0960388183594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.7835137844085693,
                        "yaw": -1.2797242403030396
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4085,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.503092288970947,
                "transform": {
                    "location": {
                        "x": -1258.9464111328125,
                        "y": 3097.034912109375,
                        "z": 348.0782470703125
                    },
                    "rotation": {
                        "roll": -0.002990724751725793,
                        "pitch": 2.503967761993408,
                        "yaw": -1.2639771699905396
                    }
                },
                "velocity": {
                    "x": 6.500874996185303,
                    "y": -0.13429298996925354,
                    "z": 0.10389791429042816
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4084,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1257.3472900390625,
                        "y": 3104.00048828125,
                        "z": 348.1567077636719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.7835137844085693,
                        "yaw": -1.2797242403030396
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4083,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.8849992752075195,
                "transform": {
                    "location": {
                        "x": -1254.67236328125,
                        "y": 3107.443115234375,
                        "z": 348.2816467285156
                    },
                    "rotation": {
                        "roll": -0.015716552734375,
                        "pitch": 2.5543267726898193,
                        "yaw": -1.252349853515625
                    }
                },
                "velocity": {
                    "x": 6.879777908325195,
                    "y": -0.12560614943504333,
                    "z": 0.23684361577033997
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.818418025970459,
                "transform": {
                    "location": {
                        "x": -1216.5255126953125,
                        "y": 3103.18017578125,
                        "z": 350.21044921875
                    },
                    "rotation": {
                        "roll": 0.010234309360384941,
                        "pitch": 3.104457378387451,
                        "yaw": -1.1742249727249146
                    }
                },
                "velocity": {
                    "x": 7.805627346038818,
                    "y": -0.16225603222846985,
                    "z": 0.4165538549423218
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4081,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.814391136169434,
                "transform": {
                    "location": {
                        "x": -1216.6888427734375,
                        "y": 3099.683349609375,
                        "z": 350.208740234375
                    },
                    "rotation": {
                        "roll": 0.004731001332402229,
                        "pitch": 3.1220450401306152,
                        "yaw": -1.1778564453125
                    }
                },
                "velocity": {
                    "x": 7.80133581161499,
                    "y": -0.16505762934684753,
                    "z": 0.42026853561401367
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4080,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.783071994781494,
                "transform": {
                    "location": {
                        "x": -1217.0911865234375,
                        "y": 3096.192138671875,
                        "z": 350.1833190917969
                    },
                    "rotation": {
                        "roll": 0.01578161120414734,
                        "pitch": 3.108548641204834,
                        "yaw": -1.2026671171188354
                    }
                },
                "velocity": {
                    "x": 7.770151615142822,
                    "y": -0.1638621836900711,
                    "z": 0.4172559976577759
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4079,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.346928596496582,
                "transform": {
                    "location": {
                        "x": -1213.3721923828125,
                        "y": 3106.6142578125,
                        "z": 350.37139892578125
                    },
                    "rotation": {
                        "roll": 0.004367955960333347,
                        "pitch": 3.1166765689849854,
                        "yaw": -1.2076719999313354
                    }
                },
                "velocity": {
                    "x": 8.332752227783203,
                    "y": -0.17812854051589966,
                    "z": 0.45246389508247375
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1096.35791015625,
                        "y": 3075.898681640625,
                        "z": 355.26409912109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.8150339126586914,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.992259979248047,
                "transform": {
                    "location": {
                        "x": -1172.6156005859375,
                        "y": 3105.708984375,
                        "z": 352.4386901855469
                    },
                    "rotation": {
                        "roll": 0.0010430377442389727,
                        "pitch": 2.4801371097564697,
                        "yaw": -1.28546142578125
                    }
                },
                "velocity": {
                    "x": 7.982828140258789,
                    "y": -0.1786448210477829,
                    "z": 0.34462255239486694
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4076,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.034757614135742,
                "transform": {
                    "location": {
                        "x": -1174.333740234375,
                        "y": 3102.24609375,
                        "z": 352.4059753417969
                    },
                    "rotation": {
                        "roll": -0.00051879946840927,
                        "pitch": 2.529519557952881,
                        "yaw": -1.2808228731155396
                    }
                },
                "velocity": {
                    "x": 8.025327682495117,
                    "y": -0.17969051003456116,
                    "z": 0.3451997935771942
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4075,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.025479316711426,
                "transform": {
                    "location": {
                        "x": -1174.1478271484375,
                        "y": 3098.7412109375,
                        "z": 352.3791198730469
                    },
                    "rotation": {
                        "roll": -0.00018310712766833603,
                        "pitch": 2.560391902923584,
                        "yaw": -1.2750855684280396
                    }
                },
                "velocity": {
                    "x": 8.016044616699219,
                    "y": -0.17848540842533112,
                    "z": 0.34566009044647217
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4074,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.971336364746094,
                "transform": {
                    "location": {
                        "x": -1174.2713623046875,
                        "y": 3095.2431640625,
                        "z": 352.38525390625
                    },
                    "rotation": {
                        "roll": 0.00039201087201945484,
                        "pitch": 2.50270414352417,
                        "yaw": -1.2726439237594604
                    }
                },
                "velocity": {
                    "x": 7.9621124267578125,
                    "y": -0.17527052760124207,
                    "z": 0.34095558524131775
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4072,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1122.26611328125,
                        "y": 3097.50830078125,
                        "z": 354.33624267578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4071,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1114.3377685546875,
                        "y": 3093.810546875,
                        "z": 354.6291198730469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.535000801086426,
                "transform": {
                    "location": {
                        "x": -1140.4639892578125,
                        "y": 3076.8837890625,
                        "z": 353.6949157714844
                    },
                    "rotation": {
                        "roll": 0.001181907020509243,
                        "pitch": -2.3645293712615967,
                        "yaw": 178.71902465820312
                    }
                },
                "velocity": {
                    "x": -13.52263069152832,
                    "y": 0.3025858402252197,
                    "z": -0.4931173622608185
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.243677139282227,
                "transform": {
                    "location": {
                        "x": -1172.814453125,
                        "y": 3077.606689453125,
                        "z": 352.4608154296875
                    },
                    "rotation": {
                        "roll": 0.0007383873453363776,
                        "pitch": -2.3955042362213135,
                        "yaw": 178.72084045410156
                    }
                },
                "velocity": {
                    "x": -13.2283935546875,
                    "y": 0.2964320182800293,
                    "z": -0.5627517104148865
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.406888961791992,
                "transform": {
                    "location": {
                        "x": -1256.2554931640625,
                        "y": 3079.470458984375,
                        "z": 348.21728515625
                    },
                    "rotation": {
                        "roll": -0.0011291515547782183,
                        "pitch": -2.735347270965576,
                        "yaw": 178.73106384277344
                    }
                },
                "velocity": {
                    "x": -16.38437271118164,
                    "y": 0.36369937658309937,
                    "z": -0.7784878611564636
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1286.5501708984375,
                        "y": 3080.14990234375,
                        "z": 346.9360046386719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.058741807937622,
                        "yaw": 178.51222229003906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.3149605393409729,
        "expert_target_speed": 20.0,
        "target_point": [
            46.41295621161944,
            -0.9304972809806408
        ],
        "target_point_next": [
            97.46632191445433,
            -1.2723562321585657
        ]
    },
    "425": {
        "acceleration": [
            -1.9079399108886719,
            0.7083070278167725,
            -0.16694307327270508
        ],
        "angular_velocity": [
            0.5864880681037903,
            -0.5409302115440369,
            -2.8013691902160645
        ],
        "forward_vector": [
            -0.9983485341072083,
            0.026920855045318604,
            -0.05074918642640114
        ],
        "right_vector": [
            -0.02683599479496479,
            -0.9996370673179626,
            -0.0023528900928795338
        ],
        "location": [
            -1196.963134765625,
            3077.5146484375,
            351.3019714355469
        ],
        "rotation": [
            0.13498473167419434,
            -2.908963680267334,
            178.4553680419922
        ],
        "velocity": [
            -14.285456657409668,
            0.3946610689163208,
            -0.7601926326751709
        ],
        "speed": 14.290907223477744,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 63.506500244140625,
        "front_vehicle_info": {
            "id": 4039,
            "type": "vehicle.audi.tt",
            "location": [
                -1260.3519287109375,
                3079.5615234375,
                348.02374267578125
            ],
            "velocity": [
                -16.38459587097168,
                0.3670189678668976,
                -0.7705675363540649
            ],
            "speed_kmh": 59.06452090733244,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4087,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1054.8414306640625,
                        "y": 3074.971435546875,
                        "z": 356.25213623046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.03775155544281,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4086,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.919040679931641,
                "transform": {
                    "location": {
                        "x": -1256.795166015625,
                        "y": 3100.4970703125,
                        "z": 348.18658447265625
                    },
                    "rotation": {
                        "roll": -0.026580810546875,
                        "pitch": 2.683478832244873,
                        "yaw": -0.9697571396827698
                    }
                },
                "velocity": {
                    "x": 7.910524845123291,
                    "y": -0.10767826437950134,
                    "z": 0.3510088324546814
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4085,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.068016052246094,
                "transform": {
                    "location": {
                        "x": -1257.3895263671875,
                        "y": 3097.01025390625,
                        "z": 348.15057373046875
                    },
                    "rotation": {
                        "roll": 0.001725875772535801,
                        "pitch": 2.574270725250244,
                        "yaw": -0.9384153485298157
                    }
                },
                "velocity": {
                    "x": 6.059304714202881,
                    "y": -0.08501144498586655,
                    "z": 0.3137127161026001
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4084,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.69857931137085,
                "transform": {
                    "location": {
                        "x": -1255.62939453125,
                        "y": 3103.97216796875,
                        "z": 348.2263488769531
                    },
                    "rotation": {
                        "roll": 0.005918969865888357,
                        "pitch": 2.675938129425049,
                        "yaw": -0.9254761934280396
                    }
                },
                "velocity": {
                    "x": 6.692080974578857,
                    "y": -0.06343954801559448,
                    "z": 0.2880919873714447
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4083,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.450606346130371,
                "transform": {
                    "location": {
                        "x": -1253.019775390625,
                        "y": 3107.420166015625,
                        "z": 348.3521423339844
                    },
                    "rotation": {
                        "roll": -0.01208495907485485,
                        "pitch": 2.4715516567230225,
                        "yaw": -0.8549193739891052
                    }
                },
                "velocity": {
                    "x": 6.443089485168457,
                    "y": -0.0844048410654068,
                    "z": 0.29966244101524353
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.190225601196289,
                "transform": {
                    "location": {
                        "x": -1214.5118408203125,
                        "y": 3103.138427734375,
                        "z": 350.3196716308594
                    },
                    "rotation": {
                        "roll": 0.007201140280812979,
                        "pitch": 3.187765121459961,
                        "yaw": -1.2000732421875
                    }
                },
                "velocity": {
                    "x": 8.176332473754883,
                    "y": -0.17231127619743347,
                    "z": 0.44462621212005615
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4081,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.991394519805908,
                "transform": {
                    "location": {
                        "x": -1214.73291015625,
                        "y": 3099.64208984375,
                        "z": 350.31494140625
                    },
                    "rotation": {
                        "roll": 0.004317606799304485,
                        "pitch": 3.0965070724487305,
                        "yaw": -1.206908941268921
                    }
                },
                "velocity": {
                    "x": 7.977781295776367,
                    "y": -0.16986581683158875,
                    "z": 0.43420934677124023
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4080,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.166748046875,
                "transform": {
                    "location": {
                        "x": -1215.09228515625,
                        "y": 3096.14990234375,
                        "z": 350.2909240722656
                    },
                    "rotation": {
                        "roll": 0.010148250497877598,
                        "pitch": 3.258662700653076,
                        "yaw": -1.1962890625
                    }
                },
                "velocity": {
                    "x": 8.152853012084961,
                    "y": -0.17259740829467773,
                    "z": 0.44381681084632874
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4079,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.985180854797363,
                "transform": {
                    "location": {
                        "x": -1211.33642578125,
                        "y": 3106.570556640625,
                        "z": 350.4820251464844
                    },
                    "rotation": {
                        "roll": 0.00314906844869256,
                        "pitch": 3.102975368499756,
                        "yaw": -1.2374266386032104
                    }
                },
                "velocity": {
                    "x": 7.971560478210449,
                    "y": -0.17305870354175568,
                    "z": 0.43288543820381165
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1100.3382568359375,
                        "y": 3075.98779296875,
                        "z": 355.1351013183594
                    },
                    "rotation": {
                        "roll": 3.336934728537244e-09,
                        "pitch": -1.9241529703140259,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.018166542053223,
                "transform": {
                    "location": {
                        "x": -1170.616455078125,
                        "y": 3105.66455078125,
                        "z": 352.5235900878906
                    },
                    "rotation": {
                        "roll": 0.0014496763469651341,
                        "pitch": 2.463116407394409,
                        "yaw": -1.2602843046188354
                    }
                },
                "velocity": {
                    "x": 8.00908374786377,
                    "y": -0.17822158336639404,
                    "z": 0.337359219789505
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4076,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.991603374481201,
                "transform": {
                    "location": {
                        "x": -1172.33203125,
                        "y": 3102.201171875,
                        "z": 352.49267578125
                    },
                    "rotation": {
                        "roll": -0.0009460432920604944,
                        "pitch": 2.4278247356414795,
                        "yaw": -1.2799376249313354
                    }
                },
                "velocity": {
                    "x": 7.982393741607666,
                    "y": -0.17631006240844727,
                    "z": 0.34063202142715454
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4075,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.000344276428223,
                "transform": {
                    "location": {
                        "x": -1172.147216796875,
                        "y": 3098.69677734375,
                        "z": 352.465576171875
                    },
                    "rotation": {
                        "roll": 0.0003927398065570742,
                        "pitch": 2.4618937969207764,
                        "yaw": -1.2781068086624146
                    }
                },
                "velocity": {
                    "x": 7.991121768951416,
                    "y": -0.1782580018043518,
                    "z": 0.34016889333724976
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4074,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.032312393188477,
                "transform": {
                    "location": {
                        "x": -1172.2735595703125,
                        "y": 3095.198486328125,
                        "z": 352.4714050292969
                    },
                    "rotation": {
                        "roll": -3.051760722883046e-05,
                        "pitch": 2.4050323963165283,
                        "yaw": -1.2768553495407104
                    }
                },
                "velocity": {
                    "x": 8.022978782653809,
                    "y": -0.1788533329963684,
                    "z": 0.34332168102264404
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.083965301513672,
                "transform": {
                    "location": {
                        "x": -1143.7398681640625,
                        "y": 3076.95703125,
                        "z": 353.574951171875
                    },
                    "rotation": {
                        "roll": 0.0007287105545401573,
                        "pitch": -2.3027572631835938,
                        "yaw": 178.71820068359375
                    }
                },
                "velocity": {
                    "x": -13.072006225585938,
                    "y": 0.2926137149333954,
                    "z": -0.4766397774219513
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.585222244262695,
                "transform": {
                    "location": {
                        "x": -1176.1630859375,
                        "y": 3077.681396484375,
                        "z": 352.31549072265625
                    },
                    "rotation": {
                        "roll": -6.103394116507843e-05,
                        "pitch": -2.5229761600494385,
                        "yaw": 178.72467041015625
                    }
                },
                "velocity": {
                    "x": -13.568721771240234,
                    "y": 0.3024350702762604,
                    "z": -0.5971524119377136
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.40681266784668,
                "transform": {
                    "location": {
                        "x": -1260.3519287109375,
                        "y": 3079.5615234375,
                        "z": 348.02374267578125
                    },
                    "rotation": {
                        "roll": 0.0002428587176837027,
                        "pitch": -2.7034502029418945,
                        "yaw": 178.7228240966797
                    }
                },
                "velocity": {
                    "x": -16.38459587097168,
                    "y": 0.3670189678668976,
                    "z": -0.7705675363540649
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1290.7960205078125,
                        "y": 3080.256591796875,
                        "z": 346.7825622558594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9539121389389038,
                        "yaw": 178.27044677734375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.2703859806060791,
        "expert_target_speed": 20.0,
        "target_point": [
            42.90323864787133,
            -0.43304793948814413
        ],
        "target_point_next": [
            93.95725790391045,
            -0.20913962368223604
        ]
    },
    "430": {
        "acceleration": [
            -1.9989776611328125,
            0.8208096027374268,
            -0.16037821769714355
        ],
        "angular_velocity": [
            0.4469464123249054,
            0.020942918956279755,
            -2.9595589637756348
        ],
        "forward_vector": [
            -0.9978902339935303,
            0.039677999913692474,
            -0.051388029009103775
        ],
        "right_vector": [
            -0.039494048804044724,
            -0.9992092251777649,
            -0.004590500146150589
        ],
        "location": [
            -1200.598388671875,
            3077.63623046875,
            351.1064758300781
        ],
        "rotation": [
            0.2633651793003082,
            -2.9456145763397217,
            177.72300720214844
        ],
        "velocity": [
            -14.781617164611816,
            0.5901702046394348,
            -0.8043537139892578
        ],
        "speed": 14.793394028132653,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 63.96596145629883,
        "front_vehicle_info": {
            "id": 4039,
            "type": "vehicle.audi.tt",
            "location": [
                -1264.44873046875,
                3079.6533203125,
                347.833984375
            ],
            "velocity": [
                -16.381309509277344,
                0.3682646155357361,
                -0.736613392829895
            ],
            "speed_kmh": 59.04719071096905,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4087,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1058.8228759765625,
                        "y": 3075.060302734375,
                        "z": 356.18096923828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0719298124313354,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4086,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.020232200622559,
                "transform": {
                    "location": {
                        "x": -1254.80419921875,
                        "y": 3100.470947265625,
                        "z": 348.2787170410156
                    },
                    "rotation": {
                        "roll": 0.008732352405786514,
                        "pitch": 2.7247602939605713,
                        "yaw": -0.66729736328125
                    }
                },
                "velocity": {
                    "x": 8.010525703430176,
                    "y": -0.08359353244304657,
                    "z": 0.385505735874176
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4085,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.170877456665039,
                "transform": {
                    "location": {
                        "x": -1255.8602294921875,
                        "y": 3096.990966796875,
                        "z": 348.2269592285156
                    },
                    "rotation": {
                        "roll": 0.017700353637337685,
                        "pitch": 2.686579704284668,
                        "yaw": -0.7470701932907104
                    }
                },
                "velocity": {
                    "x": 6.1630988121032715,
                    "y": -0.07316692173480988,
                    "z": 0.3009849190711975
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4084,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.497538089752197,
                "transform": {
                    "location": {
                        "x": -1253.9820556640625,
                        "y": 3103.955322265625,
                        "z": 348.30126953125
                    },
                    "rotation": {
                        "roll": 0.03212277963757515,
                        "pitch": 2.7513434886932373,
                        "yaw": -0.6239622235298157
                    }
                },
                "velocity": {
                    "x": 6.489777088165283,
                    "y": -0.08110228180885315,
                    "z": 0.3069429397583008
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4083,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.54408597946167,
                "transform": {
                    "location": {
                        "x": -1251.3948974609375,
                        "y": 3107.398681640625,
                        "z": 348.4290466308594
                    },
                    "rotation": {
                        "roll": 0.011085773818194866,
                        "pitch": 2.6798176765441895,
                        "yaw": -0.7641907334327698
                    }
                },
                "velocity": {
                    "x": 6.535860061645508,
                    "y": -0.0827273577451706,
                    "z": 0.3174114227294922
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.925536155700684,
                "transform": {
                    "location": {
                        "x": -1212.501220703125,
                        "y": 3103.09521484375,
                        "z": 350.4288330078125
                    },
                    "rotation": {
                        "roll": 0.005377792753279209,
                        "pitch": 3.106076240539551,
                        "yaw": -1.2269285917282104
                    }
                },
                "velocity": {
                    "x": 7.912010192871094,
                    "y": -0.17118053138256073,
                    "z": 0.43001243472099304
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4081,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.037572860717773,
                "transform": {
                    "location": {
                        "x": -1212.721435546875,
                        "y": 3099.598876953125,
                        "z": 350.42437744140625
                    },
                    "rotation": {
                        "roll": 0.002073898445814848,
                        "pitch": 3.080695152282715,
                        "yaw": -1.2304683923721313
                    }
                },
                "velocity": {
                    "x": 8.02391242980957,
                    "y": -0.17430567741394043,
                    "z": 0.434782475233078
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4080,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.94730281829834,
                "transform": {
                    "location": {
                        "x": -1213.0775146484375,
                        "y": 3096.106689453125,
                        "z": 350.4008483886719
                    },
                    "rotation": {
                        "roll": 0.00784843135625124,
                        "pitch": 3.1559433937072754,
                        "yaw": -1.2430421113967896
                    }
                },
                "velocity": {
                    "x": 7.933750629425049,
                    "y": -0.17310912907123566,
                    "z": 0.430407851934433
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4079,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.932367324829102,
                "transform": {
                    "location": {
                        "x": -1209.357177734375,
                        "y": 3106.52783203125,
                        "z": 350.5894775390625
                    },
                    "rotation": {
                        "roll": 0.0016954682068899274,
                        "pitch": 3.1088764667510986,
                        "yaw": -1.2462769746780396
                    }
                },
                "velocity": {
                    "x": 7.918742656707764,
                    "y": -0.17218981683254242,
                    "z": 0.43164435029029846
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1104.318359375,
                        "y": 3076.076416015625,
                        "z": 355.00030517578125
                    },
                    "rotation": {
                        "roll": -1.6685771653257575e-09,
                        "pitch": -2.0333540439605713,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.008354187011719,
                "transform": {
                    "location": {
                        "x": -1168.615234375,
                        "y": 3105.619873046875,
                        "z": 352.6070251464844
                    },
                    "rotation": {
                        "roll": 0.001855036010965705,
                        "pitch": 2.4243276119232178,
                        "yaw": -1.29193115234375
                    }
                },
                "velocity": {
                    "x": 7.9996771812438965,
                    "y": -0.18015193939208984,
                    "z": 0.3262555003166199
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4076,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.020040512084961,
                "transform": {
                    "location": {
                        "x": -1170.3336181640625,
                        "y": 3102.15673828125,
                        "z": 352.57708740234375
                    },
                    "rotation": {
                        "roll": 0.00028825856861658394,
                        "pitch": 2.426144599914551,
                        "yaw": -1.2737733125686646
                    }
                },
                "velocity": {
                    "x": 8.010952949523926,
                    "y": -0.17802762985229492,
                    "z": 0.33762526512145996
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4075,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.012900352478027,
                "transform": {
                    "location": {
                        "x": -1170.1485595703125,
                        "y": 3098.652099609375,
                        "z": 352.5498046875
                    },
                    "rotation": {
                        "roll": 0.0002647586807142943,
                        "pitch": 2.459796905517578,
                        "yaw": -1.2784117460250854
                    }
                },
                "velocity": {
                    "x": 8.003788948059082,
                    "y": -0.17862771451473236,
                    "z": 0.3376666307449341
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4074,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.970999240875244,
                "transform": {
                    "location": {
                        "x": -1170.275634765625,
                        "y": 3095.154052734375,
                        "z": 352.55584716796875
                    },
                    "rotation": {
                        "roll": 0.002193774562329054,
                        "pitch": 2.404165029525757,
                        "yaw": -1.275115966796875
                    }
                },
                "velocity": {
                    "x": 7.96201229095459,
                    "y": -0.17482249438762665,
                    "z": 0.335598886013031
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.744926452636719,
                "transform": {
                    "location": {
                        "x": -1147.0704345703125,
                        "y": 3077.031494140625,
                        "z": 353.45086669921875
                    },
                    "rotation": {
                        "roll": 0.00012249915744177997,
                        "pitch": -1.9739928245544434,
                        "yaw": 178.72035217285156
                    }
                },
                "velocity": {
                    "x": -13.732348442077637,
                    "y": 0.30802053213119507,
                    "z": -0.5007275938987732
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 14.03272533416748,
                "transform": {
                    "location": {
                        "x": -1179.611083984375,
                        "y": 3077.7587890625,
                        "z": 352.1604919433594
                    },
                    "rotation": {
                        "roll": 0.0010417001321911812,
                        "pitch": -2.5482137203216553,
                        "yaw": 178.72152709960938
                    }
                },
                "velocity": {
                    "x": -14.014593124389648,
                    "y": 0.31386497616767883,
                    "z": -0.6403615474700928
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.401996612548828,
                "transform": {
                    "location": {
                        "x": -1264.44873046875,
                        "y": 3079.6533203125,
                        "z": 347.833984375
                    },
                    "rotation": {
                        "roll": 0.00170231144875288,
                        "pitch": -2.5617306232452393,
                        "yaw": 178.71063232421875
                    }
                },
                "velocity": {
                    "x": -16.381309509277344,
                    "y": 0.3682646155357361,
                    "z": -0.736613392829895
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1295.0416259765625,
                        "y": 3080.37646484375,
                        "z": 346.6355285644531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9539121389389038,
                        "yaw": 178.27044677734375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.21348899602890015,
        "expert_target_speed": 20.0,
        "target_point": [
            39.26805484680659,
            0.09242292330372504
        ],
        "target_point_next": [
            90.31504156588919,
            0.9688725976744959
        ]
    },
    "435": {
        "acceleration": [
            -1.9891357421875,
            0.8009469509124756,
            -0.17001867294311523
        ],
        "angular_velocity": [
            0.25349128246307373,
            -0.03512408584356308,
            -2.865023136138916
        ],
        "forward_vector": [
            -0.9972442388534546,
            0.052735522389411926,
            -0.05218113586306572
        ],
        "right_vector": [
            -0.05248510092496872,
            -0.9986026883125305,
            -0.006158727686852217
        ],
        "location": [
            -1204.3583984375,
            3077.809326171875,
            350.9004211425781
        ],
        "rotation": [
            0.35335275530815125,
            -2.991117238998413,
            176.9729461669922
        ],
        "velocity": [
            -15.280454635620117,
            0.8023799657821655,
            -0.844299852848053
        ],
        "speed": 15.301506706227753,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 64.29693603515625,
        "front_vehicle_info": {
            "id": 4039,
            "type": "vehicle.audi.tt",
            "location": [
                -1268.5440673828125,
                3079.744873046875,
                347.65252685546875
            ],
            "velocity": [
                -16.381074905395508,
                0.365619421005249,
                -0.7250232696533203
            ],
            "speed_kmh": 59.04427499435645,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4087,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1062.8037109375,
                        "y": 3075.14892578125,
                        "z": 356.10601806640625
                    },
                    "rotation": {
                        "roll": 1.6678640690770408e-09,
                        "pitch": -1.1525875329971313,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4086,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.667975425720215,
                "transform": {
                    "location": {
                        "x": -1252.8465576171875,
                        "y": 3100.447998046875,
                        "z": 348.3735046386719
                    },
                    "rotation": {
                        "roll": 0.047066446393728256,
                        "pitch": 2.788977861404419,
                        "yaw": -0.6357116103172302
                    }
                },
                "velocity": {
                    "x": 7.6580963134765625,
                    "y": -0.10369452089071274,
                    "z": 0.3750358521938324
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4085,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.1403117179870605,
                "transform": {
                    "location": {
                        "x": -1254.4559326171875,
                        "y": 3096.974853515625,
                        "z": 348.2947998046875
                    },
                    "rotation": {
                        "roll": 0.026280513033270836,
                        "pitch": 2.6502020359039307,
                        "yaw": -0.653228759765625
                    }
                },
                "velocity": {
                    "x": 5.134045124053955,
                    "y": -0.05586865916848183,
                    "z": 0.247514009475708
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4084,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.4716973304748535,
                "transform": {
                    "location": {
                        "x": -1252.4442138671875,
                        "y": 3103.93408203125,
                        "z": 348.3751220703125
                    },
                    "rotation": {
                        "roll": 0.028687266632914543,
                        "pitch": 2.732492208480835,
                        "yaw": -0.7419737577438354
                    }
                },
                "velocity": {
                    "x": 5.464666843414307,
                    "y": -0.08215687423944473,
                    "z": 0.26483243703842163
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4083,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.215073585510254,
                "transform": {
                    "location": {
                        "x": -1249.9315185546875,
                        "y": 3107.380126953125,
                        "z": 348.50091552734375
                    },
                    "rotation": {
                        "roll": 0.02058848924934864,
                        "pitch": 2.450828790664673,
                        "yaw": -0.7366638779640198
                    }
                },
                "velocity": {
                    "x": 5.2085113525390625,
                    "y": -0.06524639576673508,
                    "z": 0.2532650828361511
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.02151870727539,
                "transform": {
                    "location": {
                        "x": -1210.5191650390625,
                        "y": 3103.052490234375,
                        "z": 350.53643798828125
                    },
                    "rotation": {
                        "roll": 0.004225184675306082,
                        "pitch": 3.141388177871704,
                        "yaw": -1.240936279296875
                    }
                },
                "velocity": {
                    "x": 8.007868766784668,
                    "y": -0.1747342199087143,
                    "z": 0.4339025914669037
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4081,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.981428146362305,
                "transform": {
                    "location": {
                        "x": -1210.7254638671875,
                        "y": 3099.555908203125,
                        "z": 350.5325622558594
                    },
                    "rotation": {
                        "roll": 0.0006427239859476686,
                        "pitch": 3.098651647567749,
                        "yaw": -1.243133544921875
                    }
                },
                "velocity": {
                    "x": 7.967804431915283,
                    "y": -0.17552241683006287,
                    "z": 0.4318367540836334
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4080,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.98110818862915,
                "transform": {
                    "location": {
                        "x": -1211.0999755859375,
                        "y": 3096.063720703125,
                        "z": 350.50823974609375
                    },
                    "rotation": {
                        "roll": 0.005817592144012451,
                        "pitch": 3.1559910774230957,
                        "yaw": -1.234832763671875
                    }
                },
                "velocity": {
                    "x": 7.967505931854248,
                    "y": -0.17380087077617645,
                    "z": 0.43211570382118225
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4079,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.98201847076416,
                "transform": {
                    "location": {
                        "x": -1207.370849609375,
                        "y": 3106.484375,
                        "z": 350.6979675292969
                    },
                    "rotation": {
                        "roll": 0.0015624479856342077,
                        "pitch": 3.147426128387451,
                        "yaw": -1.253753662109375
                    }
                },
                "velocity": {
                    "x": 7.968130111694336,
                    "y": -0.17542695999145508,
                    "z": 0.4367513954639435
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1108.298095703125,
                        "y": 3076.165283203125,
                        "z": 354.8609313964844
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.006447792053223,
                "transform": {
                    "location": {
                        "x": -1166.6173095703125,
                        "y": 3105.574951171875,
                        "z": 352.6887512207031
                    },
                    "rotation": {
                        "roll": 0.0012334826169535518,
                        "pitch": 2.3269565105438232,
                        "yaw": -1.271636962890625
                    }
                },
                "velocity": {
                    "x": 7.9979166984558105,
                    "y": -0.1784447282552719,
                    "z": 0.3235568106174469
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4076,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.998789310455322,
                "transform": {
                    "location": {
                        "x": -1168.33349609375,
                        "y": 3102.112548828125,
                        "z": 352.6600036621094
                    },
                    "rotation": {
                        "roll": 0.00044842049828730524,
                        "pitch": 2.36759614944458,
                        "yaw": -1.276641845703125
                    }
                },
                "velocity": {
                    "x": 7.990235328674316,
                    "y": -0.17802894115447998,
                    "z": 0.3241627514362335
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4075,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.006475448608398,
                "transform": {
                    "location": {
                        "x": -1168.1485595703125,
                        "y": 3098.607421875,
                        "z": 352.63250732421875
                    },
                    "rotation": {
                        "roll": 0.0011829881696030498,
                        "pitch": 2.395381450653076,
                        "yaw": -1.2799988985061646
                    }
                },
                "velocity": {
                    "x": 7.99781608581543,
                    "y": -0.1797822266817093,
                    "z": 0.32598334550857544
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4074,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.03545093536377,
                "transform": {
                    "location": {
                        "x": -1168.277099609375,
                        "y": 3095.109375,
                        "z": 352.638427734375
                    },
                    "rotation": {
                        "roll": 0.00047535376506857574,
                        "pitch": 2.3423585891723633,
                        "yaw": -1.279205322265625
                    }
                },
                "velocity": {
                    "x": 8.026911735534668,
                    "y": -0.17931771278381348,
                    "z": 0.3240472376346588
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.797880172729492,
                "transform": {
                    "location": {
                        "x": -1150.64404296875,
                        "y": 3077.111083984375,
                        "z": 353.31927490234375
                    },
                    "rotation": {
                        "roll": -0.0010986296692863107,
                        "pitch": -1.8213517665863037,
                        "yaw": 178.72544860839844
                    }
                },
                "velocity": {
                    "x": -14.784404754638672,
                    "y": 0.3291378617286682,
                    "z": -0.5387998223304749
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 14.519803047180176,
                "transform": {
                    "location": {
                        "x": -1183.1771240234375,
                        "y": 3077.838134765625,
                        "z": 351.9951171875
                    },
                    "rotation": {
                        "roll": 6.256522283365484e-06,
                        "pitch": -2.6384541988372803,
                        "yaw": 178.723876953125
                    }
                },
                "velocity": {
                    "x": -14.500080108642578,
                    "y": 0.324178546667099,
                    "z": -0.6835770010948181
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.401187896728516,
                "transform": {
                    "location": {
                        "x": -1268.5440673828125,
                        "y": 3079.744873046875,
                        "z": 347.65252685546875
                    },
                    "rotation": {
                        "roll": 0.00041409381083212793,
                        "pitch": -2.540891647338867,
                        "yaw": 178.72218322753906
                    }
                },
                "velocity": {
                    "x": -16.381074905395508,
                    "y": 0.365619421005249,
                    "z": -0.7250232696533203
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1299.2872314453125,
                        "y": 3080.5126953125,
                        "z": 346.4937744140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9224181175231934,
                        "yaw": 178.02867126464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.13975577056407928,
        "expert_target_speed": 20.0,
        "target_point": [
            35.499575974377834,
            0.5807609682354531
        ],
        "target_point_next": [
            86.5307152757187,
            2.1253770166570383
        ]
    },
    "440": {
        "acceleration": [
            -1.9780349731445312,
            0.16878962516784668,
            -0.027518272399902344
        ],
        "angular_velocity": [
            -0.48182669281959534,
            0.21432076394557953,
            0.2470148503780365
        ],
        "forward_vector": [
            -0.9969965219497681,
            0.05742684751749039,
            -0.05196351557970047
        ],
        "right_vector": [
            -0.057256702333688736,
            -0.9983481764793396,
            -0.004758248571306467
        ],
        "location": [
            -1208.2435302734375,
            3078.021484375,
            350.6856994628906
        ],
        "rotation": [
            0.2729974389076233,
            -2.9786317348480225,
            176.7034149169922
        ],
        "velocity": [
            -15.777998924255371,
            0.8870171308517456,
            -0.868622362613678
        ],
        "speed": 15.802912688622566,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 64.5020980834961,
        "front_vehicle_info": {
            "id": 4039,
            "type": "vehicle.audi.tt",
            "location": [
                -1272.64013671875,
                3079.83642578125,
                347.47576904296875
            ],
            "velocity": [
                -16.379146575927734,
                0.36627689003944397,
                -0.6828439235687256
            ],
            "speed_kmh": 59.03087605425271,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4087,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1066.80517578125,
                        "y": 3075.23876953125,
                        "z": 356.0281677246094
                    },
                    "rotation": {
                        "roll": 1.6678640690770408e-09,
                        "pitch": -1.1525875329971313,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4086,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.134289264678955,
                "transform": {
                    "location": {
                        "x": -1250.931396484375,
                        "y": 3100.421142578125,
                        "z": 348.4673767089844
                    },
                    "rotation": {
                        "roll": 0.037442587316036224,
                        "pitch": 2.7552709579467773,
                        "yaw": -0.8203430771827698
                    }
                },
                "velocity": {
                    "x": 7.124938011169434,
                    "y": -0.11139137297868729,
                    "z": 0.347756564617157
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4085,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.257503509521484,
                "transform": {
                    "location": {
                        "x": -1253.16650390625,
                        "y": 3096.95654296875,
                        "z": 348.3570251464844
                    },
                    "rotation": {
                        "roll": 0.027905814349651337,
                        "pitch": 2.8014156818389893,
                        "yaw": -0.8042907118797302
                    }
                },
                "velocity": {
                    "x": 5.2506937980651855,
                    "y": -0.07918799668550491,
                    "z": 0.2555098533630371
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4084,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.481226444244385,
                "transform": {
                    "location": {
                        "x": -1251.1158447265625,
                        "y": 3103.914306640625,
                        "z": 348.4393615722656
                    },
                    "rotation": {
                        "roll": 0.02312128245830536,
                        "pitch": 2.7679202556610107,
                        "yaw": -0.812652587890625
                    }
                },
                "velocity": {
                    "x": 5.47410249710083,
                    "y": -0.08343658596277237,
                    "z": 0.2666192650794983
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4083,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.415768146514893,
                "transform": {
                    "location": {
                        "x": -1248.6251220703125,
                        "y": 3107.362060546875,
                        "z": 348.5633544921875
                    },
                    "rotation": {
                        "roll": 0.042053502053022385,
                        "pitch": 2.7153005599975586,
                        "yaw": -0.793792724609375
                    }
                },
                "velocity": {
                    "x": 5.408659934997559,
                    "y": -0.08744767308235168,
                    "z": 0.2632422149181366
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.049145698547363,
                "transform": {
                    "location": {
                        "x": -1208.505615234375,
                        "y": 3103.00830078125,
                        "z": 350.64617919921875
                    },
                    "rotation": {
                        "roll": 0.0034751479979604483,
                        "pitch": 3.159426689147949,
                        "yaw": -1.2582398653030396
                    }
                },
                "velocity": {
                    "x": 8.035181999206543,
                    "y": -0.17737245559692383,
                    "z": 0.43946951627731323
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4081,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.969052791595459,
                "transform": {
                    "location": {
                        "x": -1208.736572265625,
                        "y": 3099.512451171875,
                        "z": 350.6407775878906
                    },
                    "rotation": {
                        "roll": 0.0017978143878281116,
                        "pitch": 3.1007144451141357,
                        "yaw": -1.247924566268921
                    }
                },
                "velocity": {
                    "x": 7.955183982849121,
                    "y": -0.17465175688266754,
                    "z": 0.4362843930721283
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4080,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.053179740905762,
                "transform": {
                    "location": {
                        "x": -1209.0906982421875,
                        "y": 3096.02001953125,
                        "z": 350.6172180175781
                    },
                    "rotation": {
                        "roll": 0.004112694412469864,
                        "pitch": 3.1994242668151855,
                        "yaw": -1.265350341796875
                    }
                },
                "velocity": {
                    "x": 8.03923225402832,
                    "y": -0.17706553637981415,
                    "z": 0.4394279420375824
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4079,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.02704906463623,
                "transform": {
                    "location": {
                        "x": -1205.3709716796875,
                        "y": 3106.440185546875,
                        "z": 350.80792236328125
                    },
                    "rotation": {
                        "roll": 0.0012536696158349514,
                        "pitch": 3.1582791805267334,
                        "yaw": -1.2630614042282104
                    }
                },
                "velocity": {
                    "x": 8.012985229492188,
                    "y": -0.17662513256072998,
                    "z": 0.44089406728744507
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1112.29833984375,
                        "y": 3076.25439453125,
                        "z": 354.7156982421875
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.013589859008789,
                "transform": {
                    "location": {
                        "x": -1164.616455078125,
                        "y": 3105.5302734375,
                        "z": 352.76849365234375
                    },
                    "rotation": {
                        "roll": -0.0004272476362530142,
                        "pitch": 2.327584981918335,
                        "yaw": -1.2946470975875854
                    }
                },
                "velocity": {
                    "x": 8.005247116088867,
                    "y": -0.18003983795642853,
                    "z": 0.31815284490585327
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4076,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.024191856384277,
                "transform": {
                    "location": {
                        "x": -1166.333251953125,
                        "y": 3102.067626953125,
                        "z": 352.7416687011719
                    },
                    "rotation": {
                        "roll": -0.0007934558088891208,
                        "pitch": 2.286965847015381,
                        "yaw": -1.27593994140625
                    }
                },
                "velocity": {
                    "x": 8.01584243774414,
                    "y": -0.1785481721162796,
                    "z": 0.31942418217658997
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4075,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.015270233154297,
                "transform": {
                    "location": {
                        "x": -1166.148681640625,
                        "y": 3098.562744140625,
                        "z": 352.7137756347656
                    },
                    "rotation": {
                        "roll": -0.0007324222824536264,
                        "pitch": 2.3223462104797363,
                        "yaw": -1.277862548828125
                    }
                },
                "velocity": {
                    "x": 8.00687313079834,
                    "y": -0.17875297367572784,
                    "z": 0.3202989101409912
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4074,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.972925662994385,
                "transform": {
                    "location": {
                        "x": -1166.2789306640625,
                        "y": 3095.06494140625,
                        "z": 352.7196350097656
                    },
                    "rotation": {
                        "roll": -0.00039673110586591065,
                        "pitch": 2.265273094177246,
                        "yaw": -1.27569580078125
                    }
                },
                "velocity": {
                    "x": 7.964606285095215,
                    "y": -0.17737674713134766,
                    "z": 0.318013459444046
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 15.097780227661133,
                "transform": {
                    "location": {
                        "x": -1154.41455078125,
                        "y": 3077.1953125,
                        "z": 353.18310546875
                    },
                    "rotation": {
                        "roll": 0.0009423087467439473,
                        "pitch": -1.977906584739685,
                        "yaw": 178.7234344482422
                    }
                },
                "velocity": {
                    "x": -15.083969116210938,
                    "y": 0.3374752700328827,
                    "z": -0.550407350063324
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 14.993464469909668,
                "transform": {
                    "location": {
                        "x": -1186.8629150390625,
                        "y": 3077.920166015625,
                        "z": 351.8186340332031
                    },
                    "rotation": {
                        "roll": -0.0004577601212076843,
                        "pitch": -2.7600109577178955,
                        "yaw": 178.72337341308594
                    }
                },
                "velocity": {
                    "x": -14.97229290008545,
                    "y": 0.3338469862937927,
                    "z": -0.7231683731079102
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.397464752197266,
                "transform": {
                    "location": {
                        "x": -1272.64013671875,
                        "y": 3079.83642578125,
                        "z": 347.47576904296875
                    },
                    "rotation": {
                        "roll": -0.0001220681588165462,
                        "pitch": -2.3795762062072754,
                        "yaw": 178.71873474121094
                    }
                },
                "velocity": {
                    "x": -16.379146575927734,
                    "y": 0.36627689003944397,
                    "z": -0.6828439235687256
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1303.5321044921875,
                        "y": 3080.66455078125,
                        "z": 346.35302734375
                    },
                    "rotation": {
                        "roll": -3.3368174889858437e-09,
                        "pitch": -1.8632686138153076,
                        "yaw": 177.78689575195312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.07630204409360886,
        "expert_target_speed": 20.0,
        "target_point": [
            31.605548013842267,
            0.7361558690771877
        ],
        "target_point_next": [
            82.62885602196852,
            2.5208286788039023
        ]
    },
    "445": {
        "acceleration": [
            -1.9671630859375,
            -0.2739119529724121,
            -0.07044434547424316
        ],
        "angular_velocity": [
            -0.6716874837875366,
            0.05965901166200638,
            1.6822329759597778
        ],
        "forward_vector": [
            -0.9973233342170715,
            0.05228046700358391,
            -0.0511167049407959
        ],
        "right_vector": [
            -0.052252426743507385,
            -0.9986321330070496,
            -0.0018856832757592201
        ],
        "location": [
            -1212.2528076171875,
            3078.239990234375,
            350.4664001464844
        ],
        "rotation": [
            0.10818319022655487,
            -2.9300484657287598,
            176.99925231933594
        ],
        "velocity": [
            -16.271038055419922,
            0.8499085307121277,
            -0.8835863471031189
        ],
        "speed": 16.29322018237956,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 64.58152770996094,
        "front_vehicle_info": {
            "id": 4039,
            "type": "vehicle.audi.tt",
            "location": [
                -1276.73486328125,
                3079.928466796875,
                347.30615234375
            ],
            "velocity": [
                -16.37787437438965,
                0.3642289936542511,
                -0.6777240037918091
            ],
            "speed_kmh": 59.02537226689183,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4089,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -1290.366943359375,
                        "y": 3104.75146484375,
                        "z": 347.1588134765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0352118015289307,
                        "yaw": -1.5420531034469604
                    }
                },
                "velocity": {
                    "x": 8.861751887856428e-10,
                    "y": -2.3856194797389207e-11,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4088,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -1290.461181640625,
                        "y": 3101.252685546875,
                        "z": 347.1588134765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0352118015289307,
                        "yaw": -1.5420531034469604
                    }
                },
                "velocity": {
                    "x": 8.861751887856428e-10,
                    "y": -2.3856194797389207e-11,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4087,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1070.717529296875,
                        "y": 3075.325439453125,
                        "z": 355.9457702636719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.2692198753356934,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4086,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.714045524597168,
                "transform": {
                    "location": {
                        "x": -1249.3785400390625,
                        "y": 3100.396728515625,
                        "z": 348.54547119140625
                    },
                    "rotation": {
                        "roll": 0.021517721936106682,
                        "pitch": 2.442584753036499,
                        "yaw": -0.9230957627296448
                    }
                },
                "velocity": {
                    "x": 5.706538677215576,
                    "y": -0.0954841673374176,
                    "z": 0.276791512966156
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4085,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.012677192687988,
                "transform": {
                    "location": {
                        "x": -1251.682861328125,
                        "y": 3096.932861328125,
                        "z": 348.4294738769531
                    },
                    "rotation": {
                        "roll": 0.023148899897933006,
                        "pitch": 3.0219008922576904,
                        "yaw": -0.9026488065719604
                    }
                },
                "velocity": {
                    "x": 7.003439903259277,
                    "y": -0.11407046020030975,
                    "z": 0.3412590026855469
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4084,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.987864017486572,
                "transform": {
                    "location": {
                        "x": -1249.68994140625,
                        "y": 3103.89306640625,
                        "z": 348.5083923339844
                    },
                    "rotation": {
                        "roll": 0.01907002553343773,
                        "pitch": 2.8041067123413086,
                        "yaw": -0.8789061903953552
                    }
                },
                "velocity": {
                    "x": 5.980100154876709,
                    "y": -0.08833435922861099,
                    "z": 0.2917507290840149
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4083,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.665788173675537,
                "transform": {
                    "location": {
                        "x": -1247.1573486328125,
                        "y": 3107.337646484375,
                        "z": 348.6335144042969
                    },
                    "rotation": {
                        "roll": 0.03411585092544556,
                        "pitch": 3.1625208854675293,
                        "yaw": -0.9174496531486511
                    }
                },
                "velocity": {
                    "x": 6.656757831573486,
                    "y": -0.1149655282497406,
                    "z": 0.3272450864315033
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.972365856170654,
                "transform": {
                    "location": {
                        "x": -1206.510498046875,
                        "y": 3102.96435546875,
                        "z": 350.75531005859375
                    },
                    "rotation": {
                        "roll": 0.0014111195923760533,
                        "pitch": 3.1727523803710938,
                        "yaw": -1.2604676485061646
                    }
                },
                "velocity": {
                    "x": 7.958468914031982,
                    "y": -0.17514774203300476,
                    "z": 0.4367118775844574
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4081,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.031801223754883,
                "transform": {
                    "location": {
                        "x": -1206.7373046875,
                        "y": 3099.46875,
                        "z": 350.7502746582031
                    },
                    "rotation": {
                        "roll": 0.0006237051566131413,
                        "pitch": 3.135971784591675,
                        "yaw": -1.2572325468063354
                    }
                },
                "velocity": {
                    "x": 8.017813682556152,
                    "y": -0.1777985692024231,
                    "z": 0.43918585777282715
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4080,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.959506034851074,
                "transform": {
                    "location": {
                        "x": -1207.095703125,
                        "y": 3095.975830078125,
                        "z": 350.7265625
                    },
                    "rotation": {
                        "roll": 0.003290200373157859,
                        "pitch": 3.1925599575042725,
                        "yaw": -1.2453917264938354
                    }
                },
                "velocity": {
                    "x": 7.945646286010742,
                    "y": -0.17444810271263123,
                    "z": 0.43590354919433594
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4079,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.969868183135986,
                "transform": {
                    "location": {
                        "x": -1203.3756103515625,
                        "y": 3106.396240234375,
                        "z": 350.9178466796875
                    },
                    "rotation": {
                        "roll": 0.0019001311156898737,
                        "pitch": 3.1545841693878174,
                        "yaw": -1.2693787813186646
                    }
                },
                "velocity": {
                    "x": 7.955851078033447,
                    "y": -0.17651022970676422,
                    "z": 0.4382694959640503
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1116.2774658203125,
                        "y": 3076.34375,
                        "z": 354.5706481933594
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.00894546508789,
                "transform": {
                    "location": {
                        "x": -1162.6163330078125,
                        "y": 3105.4853515625,
                        "z": 352.84661865234375
                    },
                    "rotation": {
                        "roll": 0.001167571172118187,
                        "pitch": 2.261728286743164,
                        "yaw": -1.2733154296875
                    }
                },
                "velocity": {
                    "x": 8.001046180725098,
                    "y": -0.17976424098014832,
                    "z": 0.30682918429374695
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4076,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.992777347564697,
                "transform": {
                    "location": {
                        "x": -1164.333740234375,
                        "y": 3102.02294921875,
                        "z": 352.8211975097656
                    },
                    "rotation": {
                        "roll": 9.434096864424646e-05,
                        "pitch": 2.2952165603637695,
                        "yaw": -1.277740478515625
                    }
                },
                "velocity": {
                    "x": 7.984473705291748,
                    "y": -0.17959430813789368,
                    "z": 0.31688040494918823
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4075,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.003607749938965,
                "transform": {
                    "location": {
                        "x": -1164.1488037109375,
                        "y": 3098.51806640625,
                        "z": 352.7932434082031
                    },
                    "rotation": {
                        "roll": 0.0008829603320918977,
                        "pitch": 2.322585105895996,
                        "yaw": -1.2781676054000854
                    }
                },
                "velocity": {
                    "x": 7.995481491088867,
                    "y": -0.17830178141593933,
                    "z": 0.3134099841117859
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4074,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.03285026550293,
                "transform": {
                    "location": {
                        "x": -1164.280029296875,
                        "y": 3095.02001953125,
                        "z": 352.7992248535156
                    },
                    "rotation": {
                        "roll": -0.0007324218167923391,
                        "pitch": 2.272608757019043,
                        "yaw": -1.2808837890625
                    }
                },
                "velocity": {
                    "x": 8.02463150024414,
                    "y": -0.1772022545337677,
                    "z": 0.3171324133872986
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.844282150268555,
                "transform": {
                    "location": {
                        "x": -1158.1466064453125,
                        "y": 3077.278564453125,
                        "z": 353.04833984375
                    },
                    "rotation": {
                        "roll": 0.0016457525780424476,
                        "pitch": -2.208951473236084,
                        "yaw": 178.71493530273438
                    }
                },
                "velocity": {
                    "x": -14.830416679382324,
                    "y": 0.332280695438385,
                    "z": -0.5486876368522644
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 15.456722259521484,
                "transform": {
                    "location": {
                        "x": -1190.6654052734375,
                        "y": 3078.005126953125,
                        "z": 351.63006591796875
                    },
                    "rotation": {
                        "roll": 0.0009988144738599658,
                        "pitch": -2.8127400875091553,
                        "yaw": 178.71510314941406
                    }
                },
                "velocity": {
                    "x": -15.433260917663574,
                    "y": 0.34566906094551086,
                    "z": -0.7779590487480164
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.395936965942383,
                "transform": {
                    "location": {
                        "x": -1276.73486328125,
                        "y": 3079.928466796875,
                        "z": 347.30615234375
                    },
                    "rotation": {
                        "roll": 0.00024576083524152637,
                        "pitch": -2.3832099437713623,
                        "yaw": 178.71495056152344
                    }
                },
                "velocity": {
                    "x": -16.37787437438965,
                    "y": 0.3642289936542511,
                    "z": -0.6777240037918091
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1307.776611328125,
                        "y": 3080.831298828125,
                        "z": 346.22015380859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.6445318460464478,
                        "yaw": 177.54510498046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.04314897954463959,
        "expert_target_speed": 20.0,
        "target_point": [
            27.59370904284077,
            0.5812859161535164
        ],
        "target_point_next": [
            78.62555151730443,
            2.1024929340923317
        ]
    },
    "450": {
        "acceleration": [
            -1.8910598754882812,
            -0.4369354248046875,
            -0.12238383293151855
        ],
        "angular_velocity": [
            -0.4528544247150421,
            -0.017729246988892555,
            1.8721455335617065
        ],
        "forward_vector": [
            -0.9977070093154907,
            0.04428168758749962,
            -0.05118480324745178
        ],
        "right_vector": [
            -0.04436532407999039,
            -0.9990152716636658,
            0.0004984221304766834
        ],
        "location": [
            -1216.3839111328125,
            3078.441162109375,
            350.24237060546875
        ],
        "rotation": [
            -0.02859496884047985,
            -2.933955430984497,
            177.45867919921875
        ],
        "velocity": [
            -16.756155014038086,
            0.7539536952972412,
            -0.9096751809120178
        ],
        "speed": 16.773108746714964,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 64.5397720336914,
        "front_vehicle_info": {
            "id": 4039,
            "type": "vehicle.audi.tt",
            "location": [
                -1280.829833984375,
                3080.01953125,
                347.1417541503906
            ],
            "velocity": [
                -16.374109268188477,
                0.3709839880466461,
                -0.635132372379303
            ],
            "speed_kmh": 59.006237775596524,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1292.140380859375,
                        "y": 3097.79833984375,
                        "z": 346.9478454589844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.058741807937622,
                        "yaw": -1.487762451171875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1288.322265625,
                        "y": 3104.69921875,
                        "z": 346.93865966796875
                    },
                    "rotation": {
                        "roll": 1.6687160542261381e-09,
                        "pitch": 2.1635990142822266,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4088,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1288.416259765625,
                        "y": 3101.2001953125,
                        "z": 346.93914794921875
                    },
                    "rotation": {
                        "roll": 1.6687160542261381e-09,
                        "pitch": 2.1635990142822266,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4087,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1074.721435546875,
                        "y": 3075.415283203125,
                        "z": 355.85546875
                    },
                    "rotation": {
                        "roll": -1.6680091752263593e-09,
                        "pitch": -1.3783526420593262,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4086,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.726462364196777,
                "transform": {
                    "location": {
                        "x": -1247.993896484375,
                        "y": 3100.3720703125,
                        "z": 348.6105651855469
                    },
                    "rotation": {
                        "roll": 0.020695099607110023,
                        "pitch": 2.725696086883545,
                        "yaw": -1.024322509765625
                    }
                },
                "velocity": {
                    "x": 5.718576908111572,
                    "y": -0.11011599004268646,
                    "z": 0.27949827909469604
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4085,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.08631706237793,
                "transform": {
                    "location": {
                        "x": -1249.77001953125,
                        "y": 3096.901123046875,
                        "z": 348.5224914550781
                    },
                    "rotation": {
                        "roll": 0.019308138638734818,
                        "pitch": 2.9879684448242188,
                        "yaw": -0.9441834092140198
                    }
                },
                "velocity": {
                    "x": 8.075643539428711,
                    "y": -0.13474951684474945,
                    "z": 0.39286673069000244
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4084,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.159993171691895,
                "transform": {
                    "location": {
                        "x": -1247.8453369140625,
                        "y": 3103.862548828125,
                        "z": 348.597412109375
                    },
                    "rotation": {
                        "roll": 0.018951144069433212,
                        "pitch": 2.903759241104126,
                        "yaw": -0.9803466796875
                    }
                },
                "velocity": {
                    "x": 8.148836135864258,
                    "y": -0.1530972570180893,
                    "z": 0.3981377184391022
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4083,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.921955108642578,
                "transform": {
                    "location": {
                        "x": -1245.3330078125,
                        "y": 3107.30615234375,
                        "z": 348.72216796875
                    },
                    "rotation": {
                        "roll": 0.025509105995297432,
                        "pitch": 3.386885643005371,
                        "yaw": -0.9869383573532104
                    }
                },
                "velocity": {
                    "x": 7.911194324493408,
                    "y": -0.13942092657089233,
                    "z": 0.3885033428668976
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.040035247802734,
                "transform": {
                    "location": {
                        "x": -1204.511474609375,
                        "y": 3102.920166015625,
                        "z": 350.8654479980469
                    },
                    "rotation": {
                        "roll": 0.000649122754111886,
                        "pitch": 3.1889946460723877,
                        "yaw": -1.2653502225875854
                    }
                },
                "velocity": {
                    "x": 8.02590274810791,
                    "y": -0.17726890742778778,
                    "z": 0.44229787588119507
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4081,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.953766822814941,
                "transform": {
                    "location": {
                        "x": -1204.743896484375,
                        "y": 3099.42431640625,
                        "z": 350.86004638671875
                    },
                    "rotation": {
                        "roll": 0.000842078763525933,
                        "pitch": 3.141183376312256,
                        "yaw": -1.2667845487594604
                    }
                },
                "velocity": {
                    "x": 7.939825057983398,
                    "y": -0.17555777728557587,
                    "z": 0.4367683231830597
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4080,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.023751258850098,
                "transform": {
                    "location": {
                        "x": -1205.1015625,
                        "y": 3095.931884765625,
                        "z": 350.83624267578125
                    },
                    "rotation": {
                        "roll": -6.103473424445838e-05,
                        "pitch": 3.224682331085205,
                        "yaw": -1.283141851425171
                    }
                },
                "velocity": {
                    "x": 8.009695053100586,
                    "y": -0.17739762365818024,
                    "z": 0.44033506512641907
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4079,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.005806922912598,
                "transform": {
                    "location": {
                        "x": -1201.3826904296875,
                        "y": 3106.35205078125,
                        "z": 351.0271301269531
                    },
                    "rotation": {
                        "roll": 0.00010634690261213109,
                        "pitch": 3.1316211223602295,
                        "yaw": -1.274322271347046
                    }
                },
                "velocity": {
                    "x": 7.992096900939941,
                    "y": -0.17777670919895172,
                    "z": 0.4332762062549591
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1120.1766357421875,
                        "y": 3076.4306640625,
                        "z": 354.428466796875
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.010910987854004,
                "transform": {
                    "location": {
                        "x": -1160.61669921875,
                        "y": 3105.440673828125,
                        "z": 352.92327880859375
                    },
                    "rotation": {
                        "roll": 0.0016589539591223001,
                        "pitch": 2.1861181259155273,
                        "yaw": -1.2998046875
                    }
                },
                "velocity": {
                    "x": 8.003230094909668,
                    "y": -0.18120037019252777,
                    "z": 0.30029118061065674
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4076,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.030808448791504,
                "transform": {
                    "location": {
                        "x": -1162.332763671875,
                        "y": 3101.978271484375,
                        "z": 352.8988342285156
                    },
                    "rotation": {
                        "roll": -9.155333827948198e-05,
                        "pitch": 2.2056729793548584,
                        "yaw": -1.280700445175171
                    }
                },
                "velocity": {
                    "x": 8.02295207977295,
                    "y": -0.1792811155319214,
                    "z": 0.3065682649612427
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4075,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.019111633300781,
                "transform": {
                    "location": {
                        "x": -1162.1484375,
                        "y": 3098.473388671875,
                        "z": 352.8707275390625
                    },
                    "rotation": {
                        "roll": 0.0004448246327228844,
                        "pitch": 2.2307465076446533,
                        "yaw": -1.278594970703125
                    }
                },
                "velocity": {
                    "x": 8.011225700378418,
                    "y": -0.1787973940372467,
                    "z": 0.30731359124183655
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4074,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.976112365722656,
                "transform": {
                    "location": {
                        "x": -1162.28125,
                        "y": 3094.9755859375,
                        "z": 352.87646484375
                    },
                    "rotation": {
                        "roll": -0.0006103545310907066,
                        "pitch": 2.1840007305145264,
                        "yaw": -1.2836607694625854
                    }
                },
                "velocity": {
                    "x": 7.968374252319336,
                    "y": -0.17885608971118927,
                    "z": 0.3023032248020172
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 15.037612915039062,
                "transform": {
                    "location": {
                        "x": -1161.865966796875,
                        "y": 3077.36181640625,
                        "z": 352.9090576171875
                    },
                    "rotation": {
                        "roll": -0.0002746571262832731,
                        "pitch": -2.1898815631866455,
                        "yaw": 178.71697998046875
                    }
                },
                "velocity": {
                    "x": -15.02314567565918,
                    "y": 0.3351346552371979,
                    "z": -0.5679484605789185
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 15.91500186920166,
                "transform": {
                    "location": {
                        "x": -1194.58251953125,
                        "y": 3078.0927734375,
                        "z": 351.4297180175781
                    },
                    "rotation": {
                        "roll": -0.0005493200733326375,
                        "pitch": -2.9076249599456787,
                        "yaw": 178.72035217285156
                    }
                },
                "velocity": {
                    "x": -15.889679908752441,
                    "y": 0.3537878096103668,
                    "z": -0.8247353434562683
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.390621185302734,
                "transform": {
                    "location": {
                        "x": -1280.829833984375,
                        "y": 3080.01953125,
                        "z": 347.1417541503906
                    },
                    "rotation": {
                        "roll": 0.020898019894957542,
                        "pitch": -2.2240869998931885,
                        "yaw": 178.72145080566406
                    }
                },
                "velocity": {
                    "x": -16.374109268188477,
                    "y": 0.3709839880466461,
                    "z": -0.635132372379303
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1312.0208740234375,
                        "y": 3081.012451171875,
                        "z": 346.0990905761719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.4258360862731934,
                        "yaw": 177.3032989501953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.01898001693189144,
        "expert_target_speed": 20.0,
        "target_point": [
            23.461522420930297,
            0.37781098721048545
        ],
        "target_point_next": [
            74.5039219844826,
            1.4897749814898145
        ]
    },
    "455": {
        "acceleration": [
            -0.8660888671875,
            -0.45066118240356445,
            0.08165597915649414
        ],
        "angular_velocity": [
            -0.2597923278808594,
            0.06607472151517868,
            1.527327060699463
        ],
        "forward_vector": [
            -0.9980614185333252,
            0.03668025881052017,
            -0.0502784363925457
        ],
        "right_vector": [
            -0.03681847080588341,
            -0.9993202686309814,
            0.0018251484725624323
        ],
        "location": [
            -1220.623779296875,
            3078.616455078125,
            350.0146789550781
        ],
        "rotation": [
            -0.1047057956457138,
            -2.8819572925567627,
            177.89524841308594
        ],
        "velocity": [
            -17.09672737121582,
            0.6436375975608826,
            -0.9050329327583313
        ],
        "speed": 17.108838539266017,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 64.38822937011719,
        "front_vehicle_info": {
            "id": 4039,
            "type": "vehicle.audi.tt",
            "location": [
                -1284.9232177734375,
                3080.11328125,
                346.9839782714844
            ],
            "velocity": [
                -16.372562408447266,
                0.38342273235321045,
                -0.615382194519043
            ],
            "speed_kmh": 58.998992740550214,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1290.060302734375,
                        "y": 3097.741455078125,
                        "z": 346.8444519042969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.058741807937622,
                        "yaw": -1.487762451171875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1286.239501953125,
                        "y": 3104.64892578125,
                        "z": 346.96929931640625
                    },
                    "rotation": {
                        "roll": 1.6687160542261381e-09,
                        "pitch": 2.1635990142822266,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4088,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1286.333740234375,
                        "y": 3101.150146484375,
                        "z": 346.9693603515625
                    },
                    "rotation": {
                        "roll": 1.6687160542261381e-09,
                        "pitch": 2.1635990142822266,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4087,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1078.7294921875,
                        "y": 3075.504638671875,
                        "z": 355.7590026855469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.4875195026397705,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4086,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.5368571281433105,
                "transform": {
                    "location": {
                        "x": -1246.3248291015625,
                        "y": 3100.33984375,
                        "z": 348.6883544921875
                    },
                    "rotation": {
                        "roll": 0.015101018361747265,
                        "pitch": 3.2531163692474365,
                        "yaw": -1.0955504179000854
                    }
                },
                "velocity": {
                    "x": 7.526286602020264,
                    "y": -0.150063157081604,
                    "z": 0.369739294052124
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4085,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.126531600952148,
                "transform": {
                    "location": {
                        "x": -1247.71923828125,
                        "y": 3096.864501953125,
                        "z": 348.6221923828125
                    },
                    "rotation": {
                        "roll": 0.018239019438624382,
                        "pitch": 2.8634133338928223,
                        "yaw": -1.0501708984375
                    }
                },
                "velocity": {
                    "x": 8.115379333496094,
                    "y": -0.15276332199573517,
                    "z": 0.3972351849079132
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4084,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.138867378234863,
                "transform": {
                    "location": {
                        "x": -1245.7764892578125,
                        "y": 3103.82373046875,
                        "z": 348.6994323730469
                    },
                    "rotation": {
                        "roll": 0.01077716238796711,
                        "pitch": 2.8557498455047607,
                        "yaw": -1.085510015487671
                    }
                },
                "velocity": {
                    "x": 8.127543449401855,
                    "y": -0.15687444806098938,
                    "z": 0.39949172735214233
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4083,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.730586051940918,
                "transform": {
                    "location": {
                        "x": -1243.2825927734375,
                        "y": 3107.26904296875,
                        "z": 348.8235778808594
                    },
                    "rotation": {
                        "roll": 0.030214708298444748,
                        "pitch": 3.346874475479126,
                        "yaw": -1.053222417831421
                    }
                },
                "velocity": {
                    "x": 8.718300819396973,
                    "y": -0.16916322708129883,
                    "z": 0.43099120259284973
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.007044792175293,
                "transform": {
                    "location": {
                        "x": -1202.50830078125,
                        "y": 3102.8759765625,
                        "z": 350.9757995605469
                    },
                    "rotation": {
                        "roll": 0.0003725872957147658,
                        "pitch": 3.1755597591400146,
                        "yaw": -1.2706910371780396
                    }
                },
                "velocity": {
                    "x": 7.992990970611572,
                    "y": -0.17735250294208527,
                    "z": 0.4397798180580139
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4081,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.026727676391602,
                "transform": {
                    "location": {
                        "x": -1202.7493896484375,
                        "y": 3099.380126953125,
                        "z": 350.96990966796875
                    },
                    "rotation": {
                        "roll": 0.0004360172606538981,
                        "pitch": 3.135589361190796,
                        "yaw": -1.270385503768921
                    }
                },
                "velocity": {
                    "x": 8.012680053710938,
                    "y": -0.1777341216802597,
                    "z": 0.4401552379131317
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4080,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.002423286437988,
                "transform": {
                    "location": {
                        "x": -1203.099853515625,
                        "y": 3095.887451171875,
                        "z": 350.9465026855469
                    },
                    "rotation": {
                        "roll": -0.0003356947854626924,
                        "pitch": 3.215775728225708,
                        "yaw": -1.2526854276657104
                    }
                },
                "velocity": {
                    "x": 7.988377571105957,
                    "y": -0.1751931756734848,
                    "z": 0.44035300612449646
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4079,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.976644039154053,
                "transform": {
                    "location": {
                        "x": -1199.3885498046875,
                        "y": 3106.307373046875,
                        "z": 351.1356506347656
                    },
                    "rotation": {
                        "roll": -0.0003356952511239797,
                        "pitch": 3.082559823989868,
                        "yaw": -1.2789610624313354
                    }
                },
                "velocity": {
                    "x": 7.9630327224731445,
                    "y": -0.17886115610599518,
                    "z": 0.43008458614349365
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1124.21142578125,
                        "y": 3076.5205078125,
                        "z": 354.2813720703125
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.011120796203613,
                "transform": {
                    "location": {
                        "x": -1158.61572265625,
                        "y": 3105.3955078125,
                        "z": 352.99810791015625
                    },
                    "rotation": {
                        "roll": -0.0012512218672782183,
                        "pitch": 2.1898610591888428,
                        "yaw": -1.2692567110061646
                    }
                },
                "velocity": {
                    "x": 8.003606796264648,
                    "y": -0.1773594468832016,
                    "z": 0.2981208562850952
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4076,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.990271091461182,
                "transform": {
                    "location": {
                        "x": -1160.3328857421875,
                        "y": 3101.93408203125,
                        "z": 352.97515869140625
                    },
                    "rotation": {
                        "roll": -0.0004882820066995919,
                        "pitch": 2.155266046524048,
                        "yaw": -1.2737122774124146
                    }
                },
                "velocity": {
                    "x": 7.982710361480713,
                    "y": -0.1774485856294632,
                    "z": 0.29880401492118835
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4075,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.002115249633789,
                "transform": {
                    "location": {
                        "x": -1160.1483154296875,
                        "y": 3098.4287109375,
                        "z": 352.94671630859375
                    },
                    "rotation": {
                        "roll": -9.155546285910532e-05,
                        "pitch": 2.185762882232666,
                        "yaw": -1.2804564237594604
                    }
                },
                "velocity": {
                    "x": 7.994565963745117,
                    "y": -0.17735092341899872,
                    "z": 0.2988549470901489
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4074,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.033867835998535,
                "transform": {
                    "location": {
                        "x": -1160.281982421875,
                        "y": 3094.930908203125,
                        "z": 352.9526062011719
                    },
                    "rotation": {
                        "roll": 9.931663953466341e-05,
                        "pitch": 2.1327195167541504,
                        "yaw": -1.281005859375
                    }
                },
                "velocity": {
                    "x": 8.02622127532959,
                    "y": -0.17945647239685059,
                    "z": 0.3010038435459137
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 15.582343101501465,
                "transform": {
                    "location": {
                        "x": -1165.694091796875,
                        "y": 3077.447509765625,
                        "z": 352.75982666015625
                    },
                    "rotation": {
                        "roll": 0.00016410049283877015,
                        "pitch": -2.1692817211151123,
                        "yaw": 178.71670532226562
                    }
                },
                "velocity": {
                    "x": -15.566155433654785,
                    "y": 0.3487206995487213,
                    "z": -0.6185469627380371
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.339529037475586,
                "transform": {
                    "location": {
                        "x": -1198.611083984375,
                        "y": 3078.18310546875,
                        "z": 351.216796875
                    },
                    "rotation": {
                        "roll": 0.0005948070902377367,
                        "pitch": -3.0468175411224365,
                        "yaw": 178.71865844726562
                    }
                },
                "velocity": {
                    "x": -16.31178092956543,
                    "y": 0.3650003969669342,
                    "z": -0.8790844678878784
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.388608932495117,
                "transform": {
                    "location": {
                        "x": -1284.9232177734375,
                        "y": 3080.11328125,
                        "z": 346.9839782714844
                    },
                    "rotation": {
                        "roll": 0.011365317739546299,
                        "pitch": -2.1991841793060303,
                        "yaw": 178.65660095214844
                    }
                },
                "velocity": {
                    "x": -16.372562408447266,
                    "y": 0.38342273235321045,
                    "z": -0.615382194519043
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1316.2646484375,
                        "y": 3081.2080078125,
                        "z": 345.9906921386719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.2071539163589478,
                        "yaw": 177.0615234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.00022754378733225167,
        "expert_target_speed": 20.0,
        "target_point": [
            19.220274498504423,
            0.2184882905990454
        ],
        "target_point_next": [
            70.26966517689422,
            0.9414879413776849
        ]
    },
    "460": {
        "acceleration": [
            -0.6657791137695312,
            0.10809183120727539,
            -0.05233883857727051
        ],
        "angular_velocity": [
            0.4947015047073364,
            -0.21335771679878235,
            -0.7879835963249207
        ],
        "forward_vector": [
            -0.9980646371841431,
            0.035137370228767395,
            -0.051307786256074905
        ],
        "right_vector": [
            -0.035222917795181274,
            -0.9993792176246643,
            0.0007638525567017496
        ],
        "location": [
            -1224.917724609375,
            3078.77294921875,
            349.78924560546875
        ],
        "rotation": [
            -0.0438232496380806,
            -2.9410109519958496,
            177.98370361328125
        ],
        "velocity": [
            -17.25389289855957,
            0.6259294152259827,
            -0.9055803418159485
        ],
        "speed": 17.265242766547175,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 64.18329620361328,
        "front_vehicle_info": {
            "id": 4039,
            "type": "vehicle.audi.tt",
            "location": [
                -1289.0167236328125,
                3080.21484375,
                346.8338623046875
            ],
            "velocity": [
                -16.36810874938965,
                0.42355644702911377,
                -0.5876950025558472
            ],
            "speed_kmh": 58.98287389464477,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.545660495758057,
                "transform": {
                    "location": {
                        "x": -1288.2200927734375,
                        "y": 3097.6962890625,
                        "z": 346.81781005859375
                    },
                    "rotation": {
                        "roll": -0.04107666015625,
                        "pitch": 1.680042028427124,
                        "yaw": -1.3342589139938354
                    }
                },
                "velocity": {
                    "x": 6.54361629486084,
                    "y": -0.11380533874034882,
                    "z": 0.11749311536550522
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.036552429199219,
                "transform": {
                    "location": {
                        "x": -1284.2103271484375,
                        "y": 3104.60888671875,
                        "z": 347.0028076171875
                    },
                    "rotation": {
                        "roll": 0.016677916049957275,
                        "pitch": 2.185093402862549,
                        "yaw": -0.9918214082717896
                    }
                },
                "velocity": {
                    "x": 8.033109664916992,
                    "y": -0.0966283306479454,
                    "z": 0.214448943734169
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4088,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.9804205894470215,
                "transform": {
                    "location": {
                        "x": -1284.320556640625,
                        "y": 3101.114013671875,
                        "z": 347.0007019042969
                    },
                    "rotation": {
                        "roll": 0.004961762111634016,
                        "pitch": 2.2008371353149414,
                        "yaw": -0.9055172801017761
                    }
                },
                "velocity": {
                    "x": 7.976847171783447,
                    "y": -0.0917176902294159,
                    "z": 0.22048065066337585
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4087,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1082.703369140625,
                        "y": 3075.59375,
                        "z": 355.6590881347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.4875195026397705,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4086,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.557180404663086,
                "transform": {
                    "location": {
                        "x": -1244.3521728515625,
                        "y": 3100.30078125,
                        "z": 348.78582763671875
                    },
                    "rotation": {
                        "roll": 0.00887097604572773,
                        "pitch": 3.204287528991699,
                        "yaw": -1.1694947481155396
                    }
                },
                "velocity": {
                    "x": 8.545004844665527,
                    "y": -0.1733507663011551,
                    "z": 0.4221160113811493
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4085,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.892470359802246,
                "transform": {
                    "location": {
                        "x": -1245.734375,
                        "y": 3096.825927734375,
                        "z": 348.7193603515625
                    },
                    "rotation": {
                        "roll": 0.010691196657717228,
                        "pitch": 2.8319056034088135,
                        "yaw": -1.1242064237594604
                    }
                },
                "velocity": {
                    "x": 7.881484031677246,
                    "y": -0.15558134019374847,
                    "z": 0.38612884283065796
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4084,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.817492961883545,
                "transform": {
                    "location": {
                        "x": -1243.806396484375,
                        "y": 3103.78564453125,
                        "z": 348.79693603515625
                    },
                    "rotation": {
                        "roll": 0.010129057802259922,
                        "pitch": 2.8290369510650635,
                        "yaw": -1.1130675077438354
                    }
                },
                "velocity": {
                    "x": 7.806329727172852,
                    "y": -0.15816789865493774,
                    "z": 0.3865152597427368
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4083,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.15159797668457,
                "transform": {
                    "location": {
                        "x": -1241.17626953125,
                        "y": 3107.227783203125,
                        "z": 348.92926025390625
                    },
                    "rotation": {
                        "roll": 0.021601922810077667,
                        "pitch": 2.943701982498169,
                        "yaw": -1.14093017578125
                    }
                },
                "velocity": {
                    "x": 8.139986991882324,
                    "y": -0.16395142674446106,
                    "z": 0.4028421640396118
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.0109224319458,
                "transform": {
                    "location": {
                        "x": -1200.5115966796875,
                        "y": 3102.83154296875,
                        "z": 351.08465576171875
                    },
                    "rotation": {
                        "roll": 0.0001321354357060045,
                        "pitch": 3.1321606636047363,
                        "yaw": -1.2738951444625854
                    }
                },
                "velocity": {
                    "x": 7.9970316886901855,
                    "y": -0.17782320082187653,
                    "z": 0.43674787878990173
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4081,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.964010715484619,
                "transform": {
                    "location": {
                        "x": -1200.754150390625,
                        "y": 3099.33544921875,
                        "z": 351.0787048339844
                    },
                    "rotation": {
                        "roll": -0.0005493166972883046,
                        "pitch": 3.100010871887207,
                        "yaw": -1.2808836698532104
                    }
                },
                "velocity": {
                    "x": 7.950278282165527,
                    "y": -0.1777765452861786,
                    "z": 0.4323667883872986
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4080,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.993406295776367,
                "transform": {
                    "location": {
                        "x": -1201.106201171875,
                        "y": 3095.84326171875,
                        "z": 351.0555725097656
                    },
                    "rotation": {
                        "roll": -0.0007019097683951259,
                        "pitch": 3.176454544067383,
                        "yaw": -1.283843994140625
                    }
                },
                "velocity": {
                    "x": 7.979560852050781,
                    "y": -0.1769694834947586,
                    "z": 0.43569913506507874
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4079,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.010709762573242,
                "transform": {
                    "location": {
                        "x": -1197.393310546875,
                        "y": 3106.2626953125,
                        "z": 351.2430725097656
                    },
                    "rotation": {
                        "roll": 0.001100849942304194,
                        "pitch": 3.086036443710327,
                        "yaw": -1.2807310819625854
                    }
                },
                "velocity": {
                    "x": 7.997183799743652,
                    "y": -0.17786400020122528,
                    "z": 0.42999669909477234
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1128.205322265625,
                        "y": 3076.6103515625,
                        "z": 354.1356506347656
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1156.5838623046875,
                        "y": 3105.323974609375,
                        "z": 353.0742492675781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4076,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.03079891204834,
                "transform": {
                    "location": {
                        "x": -1158.3319091796875,
                        "y": 3101.889404296875,
                        "z": 353.0499572753906
                    },
                    "rotation": {
                        "roll": -9.155354928225279e-05,
                        "pitch": 2.1543097496032715,
                        "yaw": -1.27508544921875
                    }
                },
                "velocity": {
                    "x": 8.023329734802246,
                    "y": -0.1801123321056366,
                    "z": 0.29577240347862244
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4075,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.020747184753418,
                "transform": {
                    "location": {
                        "x": -1158.1475830078125,
                        "y": 3098.38427734375,
                        "z": 353.0212707519531
                    },
                    "rotation": {
                        "roll": 0.001573340268805623,
                        "pitch": 2.1807358264923096,
                        "yaw": -1.2799071073532104
                    }
                },
                "velocity": {
                    "x": 8.013276100158691,
                    "y": -0.18023739755153656,
                    "z": 0.29546689987182617
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4074,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.976052284240723,
                "transform": {
                    "location": {
                        "x": -1158.2830810546875,
                        "y": 3094.88623046875,
                        "z": 353.0272521972656
                    },
                    "rotation": {
                        "roll": -0.00030517857521772385,
                        "pitch": 2.1323165893554688,
                        "yaw": -1.277160406112671
                    }
                },
                "velocity": {
                    "x": 7.968661308288574,
                    "y": -0.17765899002552032,
                    "z": 0.2937498688697815
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 15.977700233459473,
                "transform": {
                    "location": {
                        "x": -1169.641357421875,
                        "y": 3077.535888671875,
                        "z": 352.6000061035156
                    },
                    "rotation": {
                        "roll": -0.0011596684344112873,
                        "pitch": -2.2773420810699463,
                        "yaw": 178.72084045410156
                    }
                },
                "velocity": {
                    "x": -15.959895133972168,
                    "y": 0.35477685928344727,
                    "z": -0.6654219627380371
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.46063995361328,
                "transform": {
                    "location": {
                        "x": -1202.71142578125,
                        "y": 3078.2744140625,
                        "z": 350.99371337890625
                    },
                    "rotation": {
                        "roll": 9.846397915680427e-06,
                        "pitch": -3.1270720958709717,
                        "yaw": 178.72328186035156
                    }
                },
                "velocity": {
                    "x": -16.43205451965332,
                    "y": 0.36783185601234436,
                    "z": -0.8971566557884216
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.384132385253906,
                "transform": {
                    "location": {
                        "x": -1289.0167236328125,
                        "y": 3080.21484375,
                        "z": 346.8338623046875
                    },
                    "rotation": {
                        "roll": 0.0045575592666864395,
                        "pitch": -2.058284282684326,
                        "yaw": 178.50662231445312
                    }
                },
                "velocity": {
                    "x": -16.36810874938965,
                    "y": 0.42355644702911377,
                    "z": -0.5876950025558472
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1320.5084228515625,
                        "y": 3081.41845703125,
                        "z": 345.8952331542969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.2071539163589478,
                        "yaw": 177.0615234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.028339719399809837,
        "expert_target_speed": 20.0,
        "target_point": [
            14.92379612567476,
            0.19413401530827656
        ],
        "target_point_next": [
            65.97424226502815,
            0.8383126418375881
        ]
    },
    "465": {
        "acceleration": [
            -0.7071685791015625,
            0.2992546558380127,
            0.018465518951416016
        ],
        "angular_velocity": [
            0.4051378071308136,
            0.5545607209205627,
            -1.1177005767822266
        ],
        "forward_vector": [
            -0.9979076385498047,
            0.04004400596022606,
            -0.05076299607753754
        ],
        "right_vector": [
            -0.040033284574747086,
            -0.9991976022720337,
            -0.001228339271619916
        ],
        "location": [
            -1229.2545166015625,
            3078.936767578125,
            349.56268310546875
        ],
        "rotation": [
            0.07046952843666077,
            -2.9097559452056885,
            177.7020721435547
        ],
        "velocity": [
            -17.431562423706055,
            0.6891766786575317,
            -0.9005710482597351
        ],
        "speed": 17.445180796597274,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 63.9340705871582,
        "front_vehicle_info": {
            "id": 4039,
            "type": "vehicle.audi.tt",
            "location": [
                -1293.10888671875,
                3080.325927734375,
                346.68951416015625
            ],
            "velocity": [
                -16.36414337158203,
                0.4759314954280853,
                -0.5619074106216431
            ],
            "speed_kmh": 58.97053170522873,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.224578857421875,
                "transform": {
                    "location": {
                        "x": -1286.6251220703125,
                        "y": 3097.669921875,
                        "z": 346.9032287597656
                    },
                    "rotation": {
                        "roll": -0.0174255333840847,
                        "pitch": 1.9831043481826782,
                        "yaw": -0.9463502168655396
                    }
                },
                "velocity": {
                    "x": 6.210000514984131,
                    "y": -0.0786353200674057,
                    "z": 0.4184368848800659
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.894150257110596,
                "transform": {
                    "location": {
                        "x": -1282.220703125,
                        "y": 3104.580322265625,
                        "z": 347.0707092285156
                    },
                    "rotation": {
                        "roll": 0.04616175591945648,
                        "pitch": 2.234865188598633,
                        "yaw": -0.672760009765625
                    }
                },
                "velocity": {
                    "x": 7.887687683105469,
                    "y": -0.10132861882448196,
                    "z": 0.30286145210266113
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4088,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.906591892242432,
                "transform": {
                    "location": {
                        "x": -1282.336181640625,
                        "y": 3101.0859375,
                        "z": 347.06988525390625
                    },
                    "rotation": {
                        "roll": 0.023015255108475685,
                        "pitch": 2.237576723098755,
                        "yaw": -0.647247314453125
                    }
                },
                "velocity": {
                    "x": 7.9000115394592285,
                    "y": -0.1032475158572197,
                    "z": 0.305543452501297
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4087,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1086.7998046875,
                        "y": 3075.685302734375,
                        "z": 355.54803466796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.596672773361206,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4086,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.244572639465332,
                "transform": {
                    "location": {
                        "x": -1242.24755859375,
                        "y": 3100.257080078125,
                        "z": 348.89276123046875
                    },
                    "rotation": {
                        "roll": 0.008217853493988514,
                        "pitch": 2.8542540073394775,
                        "yaw": -1.2088624238967896
                    }
                },
                "velocity": {
                    "x": 8.232657432556152,
                    "y": -0.17490892112255096,
                    "z": 0.40710654854774475
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4085,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.096421241760254,
                "transform": {
                    "location": {
                        "x": -1243.735107421875,
                        "y": 3096.786376953125,
                        "z": 348.818115234375
                    },
                    "rotation": {
                        "roll": 0.011000103317201138,
                        "pitch": 2.8689866065979004,
                        "yaw": -1.1377869844436646
                    }
                },
                "velocity": {
                    "x": 8.084864616394043,
                    "y": -0.1642705649137497,
                    "z": 0.40001380443573
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4084,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.166213989257812,
                "transform": {
                    "location": {
                        "x": -1241.80126953125,
                        "y": 3103.74462890625,
                        "z": 348.8959045410156
                    },
                    "rotation": {
                        "roll": 0.005447603762149811,
                        "pitch": 2.849302053451538,
                        "yaw": -1.1799620389938354
                    }
                },
                "velocity": {
                    "x": 8.15446662902832,
                    "y": -0.17135021090507507,
                    "z": 0.40294960141181946
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4083,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.430856227874756,
                "transform": {
                    "location": {
                        "x": -1239.209228515625,
                        "y": 3107.187744140625,
                        "z": 349.02740478515625
                    },
                    "rotation": {
                        "roll": 0.01370751392096281,
                        "pitch": 2.692023277282715,
                        "yaw": -1.1676939725875854
                    }
                },
                "velocity": {
                    "x": 7.420231342315674,
                    "y": -0.15247555077075958,
                    "z": 0.3667961657047272
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.020282745361328,
                "transform": {
                    "location": {
                        "x": -1198.51025390625,
                        "y": 3102.786865234375,
                        "z": 351.19305419921875
                    },
                    "rotation": {
                        "roll": 0.0013832947006449103,
                        "pitch": 3.1113831996917725,
                        "yaw": -1.280242681503296
                    }
                },
                "velocity": {
                    "x": 8.006662368774414,
                    "y": -0.17982922494411469,
                    "z": 0.43122121691703796
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4081,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.022144317626953,
                "transform": {
                    "location": {
                        "x": -1198.759521484375,
                        "y": 3099.291259765625,
                        "z": 351.1869812011719
                    },
                    "rotation": {
                        "roll": -0.0004577638173941523,
                        "pitch": 3.0649242401123047,
                        "yaw": -1.278259038925171
                    }
                },
                "velocity": {
                    "x": 8.008530616760254,
                    "y": -0.17884698510169983,
                    "z": 0.4315592050552368
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4080,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.014226913452148,
                "transform": {
                    "location": {
                        "x": -1199.10791015625,
                        "y": 3095.798583984375,
                        "z": 351.1642150878906
                    },
                    "rotation": {
                        "roll": 0.0014653900871053338,
                        "pitch": 3.1462855339050293,
                        "yaw": -1.265045166015625
                    }
                },
                "velocity": {
                    "x": 8.000606536865234,
                    "y": -0.17862088978290558,
                    "z": 0.43153318762779236
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4079,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.977122783660889,
                "transform": {
                    "location": {
                        "x": -1195.398681640625,
                        "y": 3106.21826171875,
                        "z": 351.3488464355469
                    },
                    "rotation": {
                        "roll": 7.369313243543729e-05,
                        "pitch": 3.01265287399292,
                        "yaw": -1.28167724609375
                    }
                },
                "velocity": {
                    "x": 7.964234828948975,
                    "y": -0.17902271449565887,
                    "z": 0.4164232611656189
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1132.26171875,
                        "y": 3076.7001953125,
                        "z": 353.98779296875
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4077,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1154.5050048828125,
                        "y": 3105.21240234375,
                        "z": 353.15350341796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4076,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1156.2518310546875,
                        "y": 3101.790283203125,
                        "z": 353.1087951660156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4075,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1156.0843505859375,
                        "y": 3098.287841796875,
                        "z": 353.0993957519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4074,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1156.2359619140625,
                        "y": 3094.79833984375,
                        "z": 353.1010437011719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 16.133901596069336,
                "transform": {
                    "location": {
                        "x": -1173.6575927734375,
                        "y": 3077.62548828125,
                        "z": 352.4309997558594
                    },
                    "rotation": {
                        "roll": 0.0010184620041400194,
                        "pitch": -2.4407339096069336,
                        "yaw": 178.72052001953125
                    }
                },
                "velocity": {
                    "x": -16.114774703979492,
                    "y": 0.3600165843963623,
                    "z": -0.6979970932006836
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.405406951904297,
                "transform": {
                    "location": {
                        "x": -1206.81201171875,
                        "y": 3078.3662109375,
                        "z": 350.76776123046875
                    },
                    "rotation": {
                        "roll": 6.800595201639226e-06,
                        "pitch": -3.1731486320495605,
                        "yaw": 178.71531677246094
                    }
                },
                "velocity": {
                    "x": -16.376371383666992,
                    "y": 0.36683109402656555,
                    "z": -0.9040231704711914
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.38070297241211,
                "transform": {
                    "location": {
                        "x": -1293.10888671875,
                        "y": 3080.325927734375,
                        "z": 346.68951416015625
                    },
                    "rotation": {
                        "roll": 0.02226773463189602,
                        "pitch": -1.9645944833755493,
                        "yaw": 178.34707641601562
                    }
                },
                "velocity": {
                    "x": -16.36414337158203,
                    "y": 0.4759314954280853,
                    "z": -0.5619074106216431
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1324.7513427734375,
                        "y": 3081.64501953125,
                        "z": 345.8144836425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.9884580969810486,
                        "yaw": 176.8197784423828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.08194003254175186,
        "expert_target_speed": 20.0,
        "target_point": [
            10.582788562630979,
            0.2572931279035634
        ],
        "target_point_next": [
            61.62945132012858,
            1.1524123670034032
        ]
    },
    "470": {
        "acceleration": [
            0.0434112548828125,
            0.259397029876709,
            0.005913972854614258
        ],
        "angular_velocity": [
            0.25163471698760986,
            -0.2524687349796295,
            -0.8554437160491943
        ],
        "forward_vector": [
            -0.9977279901504517,
            0.04451406002044678,
            -0.050569891929626465
        ],
        "right_vector": [
            -0.044445473700761795,
            -0.9990087151527405,
            -0.0024804892018437386
        ],
        "location": [
            -1233.6258544921875,
            3079.119384765625,
            349.3393249511719
        ],
        "rotation": [
            0.14230377972126007,
            -2.8986775875091553,
            177.44541931152344
        ],
        "velocity": [
            -17.49917221069336,
            0.7658608555793762,
            -0.8891271948814392
        ],
        "speed": 17.515923353041128,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 63.64910125732422,
        "front_vehicle_info": {
            "id": 4039,
            "type": "vehicle.audi.tt",
            "location": [
                -1297.199951171875,
                3080.44921875,
                346.55120849609375
            ],
            "velocity": [
                -16.3604793548584,
                0.5345577597618103,
                -0.5440586805343628
            ],
            "speed_kmh": 58.96169598909159,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4091,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -1040.4722900390625,
                        "y": 3074.650146484375,
                        "z": 356.6406555175781
                    },
                    "rotation": {
                        "roll": -4.1690573215902305e-10,
                        "pitch": -0.616028368473053,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.360363960266113,
                "transform": {
                    "location": {
                        "x": -1285.05126953125,
                        "y": 3097.6494140625,
                        "z": 346.98773193359375
                    },
                    "rotation": {
                        "roll": 0.014713485725224018,
                        "pitch": 2.218370199203491,
                        "yaw": -0.7216796875
                    }
                },
                "velocity": {
                    "x": 6.354289531707764,
                    "y": -0.06958363205194473,
                    "z": 0.269053190946579
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.8191304206848145,
                "transform": {
                    "location": {
                        "x": -1280.2586669921875,
                        "y": 3104.55517578125,
                        "z": 347.14752197265625
                    },
                    "rotation": {
                        "roll": 0.042011432349681854,
                        "pitch": 2.2325222492218018,
                        "yaw": -0.6278991103172302
                    }
                },
                "velocity": {
                    "x": 7.812463760375977,
                    "y": -0.09730701893568039,
                    "z": 0.30779534578323364
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4088,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.763101577758789,
                "transform": {
                    "location": {
                        "x": -1280.3800048828125,
                        "y": 3101.060546875,
                        "z": 347.14666748046875
                    },
                    "rotation": {
                        "roll": 0.02373403124511242,
                        "pitch": 2.2283833026885986,
                        "yaw": -0.653106689453125
                    }
                },
                "velocity": {
                    "x": 7.756494998931885,
                    "y": -0.10036233067512512,
                    "z": 0.3040667772293091
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4087,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1090.9158935546875,
                        "y": 3075.777099609375,
                        "z": 355.42962646484375
                    },
                    "rotation": {
                        "roll": -1.6682658587896526e-09,
                        "pitch": -1.7058396339416504,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4086,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.837223529815674,
                "transform": {
                    "location": {
                        "x": -1240.251708984375,
                        "y": 3100.214599609375,
                        "z": 348.99261474609375
                    },
                    "rotation": {
                        "roll": 0.0037848688662052155,
                        "pitch": 2.7077736854553223,
                        "yaw": -1.2268675565719604
                    }
                },
                "velocity": {
                    "x": 7.82588005065918,
                    "y": -0.16786906123161316,
                    "z": 0.3866405487060547
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4085,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.006294250488281,
                "transform": {
                    "location": {
                        "x": -1241.7222900390625,
                        "y": 3096.74462890625,
                        "z": 348.9175720214844
                    },
                    "rotation": {
                        "roll": 0.006488314364105463,
                        "pitch": 2.842424154281616,
                        "yaw": -1.200011968612671
                    }
                },
                "velocity": {
                    "x": 7.994736194610596,
                    "y": -0.1686370074748993,
                    "z": 0.39559903740882874
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4084,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.943974494934082,
                "transform": {
                    "location": {
                        "x": -1239.789306640625,
                        "y": 3103.702392578125,
                        "z": 348.99542236328125
                    },
                    "rotation": {
                        "roll": 0.004040682688355446,
                        "pitch": 2.8310039043426514,
                        "yaw": -1.208801031112671
                    }
                },
                "velocity": {
                    "x": 7.932537078857422,
                    "y": -0.16730962693691254,
                    "z": 0.3919048309326172
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4083,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.417625427246094,
                "transform": {
                    "location": {
                        "x": -1237.38720703125,
                        "y": 3107.149658203125,
                        "z": 349.117919921875
                    },
                    "rotation": {
                        "roll": 0.011937516741454601,
                        "pitch": 2.7936975955963135,
                        "yaw": -1.2051697969436646
                    }
                },
                "velocity": {
                    "x": 7.406554222106934,
                    "y": -0.15810367465019226,
                    "z": 0.37299567461013794
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.012914657592773,
                "transform": {
                    "location": {
                        "x": -1196.51025390625,
                        "y": 3102.7421875,
                        "z": 351.3002014160156
                    },
                    "rotation": {
                        "roll": 0.0008442318649031222,
                        "pitch": 3.0853943824768066,
                        "yaw": -1.2790831327438354
                    }
                },
                "velocity": {
                    "x": 7.999747276306152,
                    "y": -0.1784946173429489,
                    "z": 0.4230537414550781
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4081,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.966683387756348,
                "transform": {
                    "location": {
                        "x": -1196.7645263671875,
                        "y": 3099.246826171875,
                        "z": 351.2942810058594
                    },
                    "rotation": {
                        "roll": 0.0003711748868227005,
                        "pitch": 3.063476324081421,
                        "yaw": -1.274688720703125
                    }
                },
                "velocity": {
                    "x": 7.953576564788818,
                    "y": -0.17693352699279785,
                    "z": 0.4211314916610718
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4080,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.996708869934082,
                "transform": {
                    "location": {
                        "x": -1197.1102294921875,
                        "y": 3095.75390625,
                        "z": 351.27166748046875
                    },
                    "rotation": {
                        "roll": 0.0021390137262642384,
                        "pitch": 3.138820171356201,
                        "yaw": -1.29791259765625
                    }
                },
                "velocity": {
                    "x": 7.983193397521973,
                    "y": -0.1806883066892624,
                    "z": 0.42816832661628723
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4079,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.012866020202637,
                "transform": {
                    "location": {
                        "x": -1193.4034423828125,
                        "y": 3106.173583984375,
                        "z": 351.4533386230469
                    },
                    "rotation": {
                        "roll": 0.00013974288594909012,
                        "pitch": 2.94258189201355,
                        "yaw": -1.278594970703125
                    }
                },
                "velocity": {
                    "x": 8.000276565551758,
                    "y": -0.17829319834709167,
                    "z": 0.41207611560821533
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1136.286865234375,
                        "y": 3076.79052734375,
                        "z": 353.84100341796875
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4075,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1154.0050048828125,
                        "y": 3098.192138671875,
                        "z": 353.1778869628906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4074,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1154.1566162109375,
                        "y": 3094.69677734375,
                        "z": 353.1752624511719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 16.082393646240234,
                "transform": {
                    "location": {
                        "x": -1177.678466796875,
                        "y": 3077.715576171875,
                        "z": 352.2547302246094
                    },
                    "rotation": {
                        "roll": 0.0012473181122913957,
                        "pitch": -2.614985704421997,
                        "yaw": 178.71449279785156
                    }
                },
                "velocity": {
                    "x": -16.062175750732422,
                    "y": 0.359927773475647,
                    "z": -0.721338152885437
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.38802146911621,
                "transform": {
                    "location": {
                        "x": -1210.9033203125,
                        "y": 3078.45751953125,
                        "z": 350.54339599609375
                    },
                    "rotation": {
                        "roll": 0.00042811999446712434,
                        "pitch": -3.123957633972168,
                        "yaw": 178.71922302246094
                    }
                },
                "velocity": {
                    "x": -16.359708786010742,
                    "y": 0.3666204810142517,
                    "z": -0.8903931975364685
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.37824821472168,
                "transform": {
                    "location": {
                        "x": -1297.199951171875,
                        "y": 3080.44921875,
                        "z": 346.55120849609375
                    },
                    "rotation": {
                        "roll": 0.0124104218557477,
                        "pitch": -1.913115382194519,
                        "yaw": 178.15548706054688
                    }
                },
                "velocity": {
                    "x": -16.3604793548584,
                    "y": 0.5345577597618103,
                    "z": -0.5440586805343628
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4031,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1328.9937744140625,
                        "y": 3081.887451171875,
                        "z": 345.7481689453125
                    },
                    "rotation": {
                        "roll": 3.335353992994783e-09,
                        "pitch": -0.769775927066803,
                        "yaw": 176.5779571533203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1464826613664627,
        "expert_target_speed": 20.0,
        "target_point": [
            57.2485384171734,
            1.4160372019174738
        ],
        "target_point_next": [
            108.28834604284236,
            1.23637995902095
        ]
    },
    "475": {
        "acceleration": [
            0.43743133544921875,
            -0.10941028594970703,
            0.14818191528320312
        ],
        "angular_velocity": [
            -0.27330535650253296,
            0.2889169454574585,
            0.6802887320518494
        ],
        "forward_vector": [
            -0.9977012872695923,
            0.04434507340192795,
            -0.05124123767018318
        ],
        "right_vector": [
            -0.044313862919807434,
            -0.9990161061286926,
            -0.0017455830238759518
        ],
        "location": [
            -1237.9903564453125,
            3079.3115234375,
            349.1180419921875
        ],
        "rotation": [
            0.10014615207910538,
            -2.937192916870117,
            177.4550323486328
        ],
        "velocity": [
            -17.41080093383789,
            0.762842059135437,
            -0.8746992945671082
        ],
        "speed": 17.427504616694737,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 63.370059967041016,
        "front_vehicle_info": {
            "id": 4039,
            "type": "vehicle.audi.tt",
            "location": [
                -1301.2899169921875,
                3080.587158203125,
                346.4156494140625
            ],
            "velocity": [
                -16.359975814819336,
                0.5903600454330444,
                -0.541633665561676
            ],
            "speed_kmh": 58.96649456016643,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4091,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1044.7066650390625,
                        "y": 3074.744873046875,
                        "z": 356.4217529296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7753903269767761,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.741750240325928,
                "transform": {
                    "location": {
                        "x": -1283.7540283203125,
                        "y": 3097.6337890625,
                        "z": 347.0355529785156
                    },
                    "rotation": {
                        "roll": 0.03454427793622017,
                        "pitch": 1.9663225412368774,
                        "yaw": -0.6802366971969604
                    }
                },
                "velocity": {
                    "x": 4.738840103149414,
                    "y": -0.07000168412923813,
                    "z": 0.15062230825424194
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.672257900238037,
                "transform": {
                    "location": {
                        "x": -1278.32421875,
                        "y": 3104.53076171875,
                        "z": 347.2238464355469
                    },
                    "rotation": {
                        "roll": 0.03431715816259384,
                        "pitch": 2.2659287452697754,
                        "yaw": -0.7122802138328552
                    }
                },
                "velocity": {
                    "x": 7.665100574493408,
                    "y": -0.11224093288183212,
                    "z": 0.3117346167564392
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4088,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.201625347137451,
                "transform": {
                    "location": {
                        "x": -1278.466552734375,
                        "y": 3101.03564453125,
                        "z": 347.22186279296875
                    },
                    "rotation": {
                        "roll": 0.02308204397559166,
                        "pitch": 2.2370643615722656,
                        "yaw": -0.74945068359375
                    }
                },
                "velocity": {
                    "x": 7.194913387298584,
                    "y": -0.10925032198429108,
                    "z": 0.291020929813385
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4087,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1095.0689697265625,
                        "y": 3075.869873046875,
                        "z": 355.30389404296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.8150339126586914,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4086,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.05522346496582,
                "transform": {
                    "location": {
                        "x": -1238.2742919921875,
                        "y": 3100.172119140625,
                        "z": 349.0892028808594
                    },
                    "rotation": {
                        "roll": 0.003727653529495001,
                        "pitch": 2.8785898685455322,
                        "yaw": -1.243194580078125
                    }
                },
                "velocity": {
                    "x": 8.043233871459961,
                    "y": -0.17469851672649384,
                    "z": 0.4031042456626892
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4085,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.008500099182129,
                "transform": {
                    "location": {
                        "x": -1239.7275390625,
                        "y": 3096.7021484375,
                        "z": 349.0162353515625
                    },
                    "rotation": {
                        "roll": 0.005492936819791794,
                        "pitch": 2.8458595275878906,
                        "yaw": -1.2173460721969604
                    }
                },
                "velocity": {
                    "x": 7.997025966644287,
                    "y": -0.16995017230510712,
                    "z": 0.39341169595718384
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4084,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.046476364135742,
                "transform": {
                    "location": {
                        "x": -1237.7984619140625,
                        "y": 3103.659912109375,
                        "z": 349.0941467285156
                    },
                    "rotation": {
                        "roll": 0.00264137820340693,
                        "pitch": 2.856091260910034,
                        "yaw": -1.22918701171875
                    }
                },
                "velocity": {
                    "x": 8.034332275390625,
                    "y": -0.1752222776412964,
                    "z": 0.40570104122161865
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4083,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.319352149963379,
                "transform": {
                    "location": {
                        "x": -1235.4114990234375,
                        "y": 3107.107421875,
                        "z": 349.2160949707031
                    },
                    "rotation": {
                        "roll": 0.007415259722620249,
                        "pitch": 3.1925599575042725,
                        "yaw": -1.221160650253296
                    }
                },
                "velocity": {
                    "x": 8.306735038757324,
                    "y": -0.17726901173591614,
                    "z": 0.42231765389442444
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.014425277709961,
                "transform": {
                    "location": {
                        "x": -1194.510986328125,
                        "y": 3102.697509765625,
                        "z": 351.4055480957031
                    },
                    "rotation": {
                        "roll": -0.0010681202402338386,
                        "pitch": 2.992920398712158,
                        "yaw": -1.2821046113967896
                    }
                },
                "velocity": {
                    "x": 8.001341819763184,
                    "y": -0.17818744480609894,
                    "z": 0.42165419459342957
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4081,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.024523735046387,
                "transform": {
                    "location": {
                        "x": -1194.7689208984375,
                        "y": 3099.2021484375,
                        "z": 351.39910888671875
                    },
                    "rotation": {
                        "roll": -0.0006408737390302122,
                        "pitch": 2.9692606925964355,
                        "yaw": -1.2797850370407104
                    }
                },
                "velocity": {
                    "x": 8.011754035949707,
                    "y": -0.17903394997119904,
                    "z": 0.41560667753219604
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4080,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.00669002532959,
                "transform": {
                    "location": {
                        "x": -1195.1141357421875,
                        "y": 3095.709228515625,
                        "z": 351.37701416015625
                    },
                    "rotation": {
                        "roll": 0.0015984912170097232,
                        "pitch": 3.0526368618011475,
                        "yaw": -1.2683409452438354
                    }
                },
                "velocity": {
                    "x": 7.993699073791504,
                    "y": -0.17893774807453156,
                    "z": 0.41933318972587585
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4079,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.9792304039001465,
                "transform": {
                    "location": {
                        "x": -1191.407958984375,
                        "y": 3106.12890625,
                        "z": 351.55584716796875
                    },
                    "rotation": {
                        "roll": 0.0006501817260868847,
                        "pitch": 2.947622537612915,
                        "yaw": -1.2800596952438354
                    }
                },
                "velocity": {
                    "x": 7.9669342041015625,
                    "y": -0.17813041806221008,
                    "z": 0.4053932726383209
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1140.34130859375,
                        "y": 3076.880859375,
                        "z": 353.6932067871094
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 16.013166427612305,
                "transform": {
                    "location": {
                        "x": -1181.6807861328125,
                        "y": 3077.804931640625,
                        "z": 352.07183837890625
                    },
                    "rotation": {
                        "roll": -0.001434326171875,
                        "pitch": -2.7184083461761475,
                        "yaw": 178.72154235839844
                    }
                },
                "velocity": {
                    "x": -15.99178409576416,
                    "y": 0.3574916124343872,
                    "z": -0.7459917068481445
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.39583396911621,
                "transform": {
                    "location": {
                        "x": -1214.9942626953125,
                        "y": 3078.548583984375,
                        "z": 350.3216247558594
                    },
                    "rotation": {
                        "roll": 0.00021512665261980146,
                        "pitch": -3.1216695308685303,
                        "yaw": 178.72523498535156
                    }
                },
                "velocity": {
                    "x": -16.367691040039062,
                    "y": 0.36463069915771484,
                    "z": -0.8883035182952881
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.379581451416016,
                "transform": {
                    "location": {
                        "x": -1301.2899169921875,
                        "y": 3080.587158203125,
                        "z": 346.4156494140625
                    },
                    "rotation": {
                        "roll": 0.009621063247323036,
                        "pitch": -1.9002336263656616,
                        "yaw": 177.96253967285156
                    }
                },
                "velocity": {
                    "x": -16.359975814819336,
                    "y": 0.5903600454330444,
                    "z": -0.541633665561676
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.21589617431163788,
        "expert_target_speed": 20.0,
        "target_point": [
            52.88004583765081,
            1.4046066304447555
        ],
        "target_point_next": [
            103.91982267923497,
            1.2164068655394193
        ]
    },
    "480": {
        "acceleration": [
            0.1519775390625,
            -0.24546504020690918,
            0.025255680084228516
        ],
        "angular_velocity": [
            -0.30972909927368164,
            0.020570211112499237,
            0.884517252445221
        ],
        "forward_vector": [
            -0.997900128364563,
            0.040685225278139114,
            -0.0503985621035099
        ],
        "right_vector": [
            -0.04071291908621788,
            -0.99917072057724,
            -0.00047742974129505455
        ],
        "location": [
            -1242.3309326171875,
            3079.49658203125,
            348.9023742675781
        ],
        "rotation": [
            0.027389518916606903,
            -2.8888487815856934,
            177.66529846191406
        ],
        "velocity": [
            -17.32917022705078,
            0.7115979790687561,
            -0.8530001044273376
        ],
        "speed": 17.34377445776778,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 63.11662292480469,
        "front_vehicle_info": {
            "id": 4039,
            "type": "vehicle.audi.tt",
            "location": [
                -1305.380859375,
                3080.739990234375,
                346.28155517578125
            ],
            "velocity": [
                -16.36381721496582,
                0.6326820850372314,
                -0.524540901184082
            ],
            "speed_kmh": 58.983991636276166,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4093,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1317.980712890625,
                        "y": 3105.821533203125,
                        "z": 346.008544921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.425856590270996,
                        "yaw": -2.696655750274658
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4092,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1318.1593017578125,
                        "y": 3102.326416015625,
                        "z": 346.00897216796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.425856590270996,
                        "yaw": -2.696655750274658
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4091,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1048.955078125,
                        "y": 3074.83984375,
                        "z": 356.3472900390625
                    },
                    "rotation": {
                        "roll": -8.338676416030921e-10,
                        "pitch": -0.9065504670143127,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.062863826751709,
                "transform": {
                    "location": {
                        "x": -1282.509765625,
                        "y": 3097.615234375,
                        "z": 347.07672119140625
                    },
                    "rotation": {
                        "roll": 0.028887907043099403,
                        "pitch": 2.2609360218048096,
                        "yaw": -0.7987974882125854
                    }
                },
                "velocity": {
                    "x": 5.058520317077637,
                    "y": -0.08158843964338303,
                    "z": 0.19315126538276672
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.6048994064331055,
                "transform": {
                    "location": {
                        "x": -1276.6038818359375,
                        "y": 3104.5048828125,
                        "z": 347.2937316894531
                    },
                    "rotation": {
                        "roll": 0.016947807744145393,
                        "pitch": 2.337761878967285,
                        "yaw": -0.905242919921875
                    }
                },
                "velocity": {
                    "x": 6.598396301269531,
                    "y": -0.11313540488481522,
                    "z": 0.27030453085899353
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4088,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.5705156326293945,
                "transform": {
                    "location": {
                        "x": -1276.7845458984375,
                        "y": 3101.009521484375,
                        "z": 347.2897644042969
                    },
                    "rotation": {
                        "roll": 0.014421068131923676,
                        "pitch": 2.3285069465637207,
                        "yaw": -0.9277648329734802
                    }
                },
                "velocity": {
                    "x": 6.564056396484375,
                    "y": -0.11419191211462021,
                    "z": 0.2679558992385864
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4087,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1099.168212890625,
                        "y": 3075.96142578125,
                        "z": 355.1736145019531
                    },
                    "rotation": {
                        "roll": 3.336934728537244e-09,
                        "pitch": -1.9241529703140259,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4086,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.106546401977539,
                "transform": {
                    "location": {
                        "x": -1236.246337890625,
                        "y": 3100.127685546875,
                        "z": 349.1907653808594
                    },
                    "rotation": {
                        "roll": 0.0013830959796905518,
                        "pitch": 2.990598201751709,
                        "yaw": -1.251190185546875
                    }
                },
                "velocity": {
                    "x": 8.094253540039062,
                    "y": -0.1766205132007599,
                    "z": 0.4098236858844757
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4085,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.039485931396484,
                "transform": {
                    "location": {
                        "x": -1237.7215576171875,
                        "y": 3096.65869140625,
                        "z": 349.1160583496094
                    },
                    "rotation": {
                        "roll": 0.0026911445893347263,
                        "pitch": 2.8883092403411865,
                        "yaw": -1.2477110624313354
                    }
                },
                "velocity": {
                    "x": 8.027435302734375,
                    "y": -0.17594598233699799,
                    "z": 0.40330588817596436
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4084,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.014348030090332,
                "transform": {
                    "location": {
                        "x": -1235.7890625,
                        "y": 3103.6162109375,
                        "z": 349.1953125
                    },
                    "rotation": {
                        "roll": 0.0018500450532883406,
                        "pitch": 2.9322409629821777,
                        "yaw": -1.2429505586624146
                    }
                },
                "velocity": {
                    "x": 8.002167701721191,
                    "y": -0.17368584871292114,
                    "z": 0.4061039686203003
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4083,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.947826385498047,
                "transform": {
                    "location": {
                        "x": -1233.3643798828125,
                        "y": 3107.0634765625,
                        "z": 349.3213195800781
                    },
                    "rotation": {
                        "roll": 0.007956698536872864,
                        "pitch": 3.004101514816284,
                        "yaw": -1.238128662109375
                    }
                },
                "velocity": {
                    "x": 7.935532093048096,
                    "y": -0.17313417792320251,
                    "z": 0.40656912326812744
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.017894744873047,
                "transform": {
                    "location": {
                        "x": -1192.510009765625,
                        "y": 3102.65283203125,
                        "z": 351.5091857910156
                    },
                    "rotation": {
                        "roll": 0.00022055741283111274,
                        "pitch": 2.974519968032837,
                        "yaw": -1.277130126953125
                    }
                },
                "velocity": {
                    "x": 8.0053129196167,
                    "y": -0.17855575680732727,
                    "z": 0.4119527339935303
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4081,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.965102195739746,
                "transform": {
                    "location": {
                        "x": -1192.774169921875,
                        "y": 3099.157470703125,
                        "z": 351.502685546875
                    },
                    "rotation": {
                        "roll": 0.0007018521428108215,
                        "pitch": 2.929720640182495,
                        "yaw": -1.277496099472046
                    }
                },
                "velocity": {
                    "x": 7.95269250869751,
                    "y": -0.1750430464744568,
                    "z": 0.4085247814655304
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4080,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.005640029907227,
                "transform": {
                    "location": {
                        "x": -1193.1158447265625,
                        "y": 3095.6650390625,
                        "z": 351.4810791015625
                    },
                    "rotation": {
                        "roll": -3.052425381611101e-05,
                        "pitch": 3.0012054443359375,
                        "yaw": -1.2871092557907104
                    }
                },
                "velocity": {
                    "x": 7.993033409118652,
                    "y": -0.17884860932826996,
                    "z": 0.41195160150527954
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4079,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.014945983886719,
                "transform": {
                    "location": {
                        "x": -1189.4119873046875,
                        "y": 3106.084716796875,
                        "z": 351.6564636230469
                    },
                    "rotation": {
                        "roll": 0.0005938280955888331,
                        "pitch": 2.8521296977996826,
                        "yaw": -1.28106689453125
                    }
                },
                "velocity": {
                    "x": 8.00302505493164,
                    "y": -0.17893409729003906,
                    "z": 0.3986641466617584
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1144.3890380859375,
                        "y": 3076.971435546875,
                        "z": 353.54559326171875
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 16.018526077270508,
                "transform": {
                    "location": {
                        "x": -1185.67626953125,
                        "y": 3077.894287109375,
                        "z": 351.88232421875
                    },
                    "rotation": {
                        "roll": -6.103326450102031e-05,
                        "pitch": -2.779968738555908,
                        "yaw": 178.71798706054688
                    }
                },
                "velocity": {
                    "x": -15.995722770690918,
                    "y": 0.3566756844520569,
                    "z": -0.7764202952384949
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.397045135498047,
                "transform": {
                    "location": {
                        "x": -1219.0870361328125,
                        "y": 3078.64013671875,
                        "z": 350.1007080078125
                    },
                    "rotation": {
                        "roll": 0.0004602537374012172,
                        "pitch": -3.068906307220459,
                        "yaw": 178.71836853027344
                    }
                },
                "velocity": {
                    "x": -16.369585037231445,
                    "y": 0.3643258213996887,
                    "z": -0.8758258819580078
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.384443283081055,
                "transform": {
                    "location": {
                        "x": -1305.380859375,
                        "y": 3080.739990234375,
                        "z": 346.28155517578125
                    },
                    "rotation": {
                        "roll": 0.029008418321609497,
                        "pitch": -1.8376145362854004,
                        "yaw": 177.75704956054688
                    }
                },
                "velocity": {
                    "x": -16.36381721496582,
                    "y": 0.6326820850372314,
                    "z": -0.524540901184082
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.29843947291374207,
        "expert_target_speed": 20.0,
        "target_point": [
            48.54033307260444,
            1.2186021644464913
        ],
        "target_point_next": [
            99.579075417198,
            0.8430771021484986
        ]
    },
    "485": {
        "acceleration": [
            -0.587005615234375,
            -0.2799224853515625,
            0.003981590270996094
        ],
        "angular_velocity": [
            -0.19804205000400543,
            0.3209403455257416,
            1.0093899965286255
        ],
        "forward_vector": [
            -0.9980839490890503,
            0.0366031676530838,
            -0.04988577589392662
        ],
        "right_vector": [
            -0.036674339324235916,
            -0.9993271231651306,
            0.0005117541877552867
        ],
        "location": [
            -1246.669677734375,
            3079.666259765625,
            348.68865966796875
        ],
        "rotation": [
            -0.0293579064309597,
            -2.859431266784668,
            177.8997039794922
        ],
        "velocity": [
            -17.407373428344727,
            0.6452192664146423,
            -0.8553975224494934
        ],
        "speed": 17.419327127521164,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 62.866275787353516,
        "front_vehicle_info": {
            "id": 4039,
            "type": "vehicle.audi.tt",
            "location": [
                -1309.47265625,
                3080.9072265625,
                346.1559753417969
            ],
            "velocity": [
                -16.359209060668945,
                0.6946446299552917,
                -0.47294333577156067
            ],
            "speed_kmh": 58.97080516970058,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4094,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1322.45556640625,
                        "y": 3099.045654296875,
                        "z": 346.05523681640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.2071607112884521,
                        "yaw": -2.938446283340454
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4093,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1315.8997802734375,
                        "y": 3105.718994140625,
                        "z": 346.0124816894531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.425856590270996,
                        "yaw": -2.696655750274658
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4092,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1316.078369140625,
                        "y": 3102.2236328125,
                        "z": 346.0127258300781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.425856590270996,
                        "yaw": -2.696655750274658
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4091,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1053.20361328125,
                        "y": 3074.9345703125,
                        "z": 356.2806701660156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.03775155544281,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.254777908325195,
                "transform": {
                    "location": {
                        "x": -1281.08642578125,
                        "y": 3097.593017578125,
                        "z": 347.1307678222656
                    },
                    "rotation": {
                        "roll": 0.017729241400957108,
                        "pitch": 2.5241031646728516,
                        "yaw": -0.8738402724266052
                    }
                },
                "velocity": {
                    "x": 6.248998165130615,
                    "y": -0.10166609287261963,
                    "z": 0.2488623559474945
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.0011186599731445,
                "transform": {
                    "location": {
                        "x": -1274.9222412109375,
                        "y": 3104.47607421875,
                        "z": 347.36260986328125
                    },
                    "rotation": {
                        "roll": 0.011332926340401173,
                        "pitch": 2.4061663150787354,
                        "yaw": -1.0419617891311646
                    }
                },
                "velocity": {
                    "x": 6.993785381317139,
                    "y": -0.12881039083003998,
                    "z": 0.29332005977630615
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4088,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.214596271514893,
                "transform": {
                    "location": {
                        "x": -1275.0750732421875,
                        "y": 3100.97998046875,
                        "z": 347.35931396484375
                    },
                    "rotation": {
                        "roll": 0.010985685512423515,
                        "pitch": 2.4165072441101074,
                        "yaw": -1.0583800077438354
                    }
                },
                "velocity": {
                    "x": 7.207023620605469,
                    "y": -0.1347777098417282,
                    "z": 0.30173951387405396
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4087,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1103.3172607421875,
                        "y": 3076.053955078125,
                        "z": 355.0354919433594
                    },
                    "rotation": {
                        "roll": -1.6685771653257575e-09,
                        "pitch": -2.0333540439605713,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4086,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.003395080566406,
                "transform": {
                    "location": {
                        "x": -1234.238037109375,
                        "y": 3100.083740234375,
                        "z": 349.29339599609375
                    },
                    "rotation": {
                        "roll": 0.0014309730613604188,
                        "pitch": 2.936824083328247,
                        "yaw": -1.259429693222046
                    }
                },
                "velocity": {
                    "x": 7.990993976593018,
                    "y": -0.17663879692554474,
                    "z": 0.40884315967559814
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4085,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.010014533996582,
                "transform": {
                    "location": {
                        "x": -1235.718505859375,
                        "y": 3096.614990234375,
                        "z": 349.2168273925781
                    },
                    "rotation": {
                        "roll": 0.001286597573198378,
                        "pitch": 2.944241762161255,
                        "yaw": -1.2538758516311646
                    }
                },
                "velocity": {
                    "x": 7.997824668884277,
                    "y": -0.1753050833940506,
                    "z": 0.40547072887420654
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4084,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.025784492492676,
                "transform": {
                    "location": {
                        "x": -1233.78955078125,
                        "y": 3103.57275390625,
                        "z": 349.29742431640625
                    },
                    "rotation": {
                        "roll": 0.0017617587000131607,
                        "pitch": 2.9310526847839355,
                        "yaw": -1.251373291015625
                    }
                },
                "velocity": {
                    "x": 8.013358116149902,
                    "y": -0.17722304165363312,
                    "z": 0.4097607433795929
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4083,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.9008660316467285,
                "transform": {
                    "location": {
                        "x": -1231.410888671875,
                        "y": 3107.020263671875,
                        "z": 349.4214782714844
                    },
                    "rotation": {
                        "roll": 0.005662037990987301,
                        "pitch": 2.936673879623413,
                        "yaw": -1.260162353515625
                    }
                },
                "velocity": {
                    "x": 7.888665676116943,
                    "y": -0.17483220994472504,
                    "z": 0.4025806188583374
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.014387130737305,
                "transform": {
                    "location": {
                        "x": -1190.5096435546875,
                        "y": 3102.607666015625,
                        "z": 351.6109313964844
                    },
                    "rotation": {
                        "roll": 0.00040282600093632936,
                        "pitch": 2.926189422607422,
                        "yaw": -1.285644292831421
                    }
                },
                "velocity": {
                    "x": 8.002249717712402,
                    "y": -0.17957428097724915,
                    "z": 0.4026733934879303
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4081,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.028239250183105,
                "transform": {
                    "location": {
                        "x": -1190.778076171875,
                        "y": 3099.113037109375,
                        "z": 351.60467529296875
                    },
                    "rotation": {
                        "roll": -0.0002441403194097802,
                        "pitch": 2.908963680267334,
                        "yaw": -1.2788389921188354
                    }
                },
                "velocity": {
                    "x": 8.016250610351562,
                    "y": -0.1790509968996048,
                    "z": 0.4003550708293915
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4080,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.004034996032715,
                "transform": {
                    "location": {
                        "x": -1191.118408203125,
                        "y": 3095.620361328125,
                        "z": 351.5834045410156
                    },
                    "rotation": {
                        "roll": -0.0008239796734414995,
                        "pitch": 2.9859535694122314,
                        "yaw": -1.26739501953125
                    }
                },
                "velocity": {
                    "x": 7.9919257164001465,
                    "y": -0.177837535738945,
                    "z": 0.4025929272174835
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4079,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.9802703857421875,
                "transform": {
                    "location": {
                        "x": -1187.4158935546875,
                        "y": 3106.0400390625,
                        "z": 351.7556457519531
                    },
                    "rotation": {
                        "roll": 0.00038096157368272543,
                        "pitch": 2.811933994293213,
                        "yaw": -1.284454345703125
                    }
                },
                "velocity": {
                    "x": 7.968671798706055,
                    "y": -0.17963957786560059,
                    "z": 0.39079010486602783
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1148.4393310546875,
                        "y": 3077.061767578125,
                        "z": 353.3979187011719
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 16.011812210083008,
                "transform": {
                    "location": {
                        "x": -1189.67431640625,
                        "y": 3077.9833984375,
                        "z": 351.68621826171875
                    },
                    "rotation": {
                        "roll": -9.155231964541599e-05,
                        "pitch": -2.8741707801818848,
                        "yaw": 178.72193908691406
                    }
                },
                "velocity": {
                    "x": -15.987833976745605,
                    "y": 0.3569837510585785,
                    "z": -0.7999075651168823
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.394638061523438,
                "transform": {
                    "location": {
                        "x": -1223.1795654296875,
                        "y": 3078.731689453125,
                        "z": 349.8844909667969
                    },
                    "rotation": {
                        "roll": 0.0007274813833646476,
                        "pitch": -3.0246262550354004,
                        "yaw": 178.71820068359375
                    }
                },
                "velocity": {
                    "x": -16.368072509765625,
                    "y": 0.3670434355735779,
                    "z": -0.8576803207397461
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.380779266357422,
                "transform": {
                    "location": {
                        "x": -1309.47265625,
                        "y": 3080.9072265625,
                        "z": 346.1559753417969
                    },
                    "rotation": {
                        "roll": 0.029714835807681084,
                        "pitch": -1.6555148363113403,
                        "yaw": 177.54702758789062
                    }
                },
                "velocity": {
                    "x": -16.359209060668945,
                    "y": 0.6946446299552917,
                    "z": -0.47294333577156067
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.37639346718788147,
        "expert_target_speed": 20.0,
        "target_point": [
            44.20286308755146,
            1.0305790657442992
        ],
        "target_point_next": [
            95.23964218968423,
            0.44626915625734354
        ]
    },
    "490": {
        "acceleration": [
            -0.6962966918945312,
            0.11011242866516113,
            -0.013219118118286133
        ],
        "angular_velocity": [
            0.3118363916873932,
            0.12926119565963745,
            -0.006959335412830114
        ],
        "forward_vector": [
            -0.9982923269271851,
            0.03298196196556091,
            -0.048214804381132126
        ],
        "right_vector": [
            -0.033055853098630905,
            -0.9994531869888306,
            0.0007357734721153975
        ],
        "location": [
            -1251.046630859375,
            3079.820556640625,
            348.47454833984375
        ],
        "rotation": [
            -0.0422058030962944,
            -2.7635762691497803,
            178.10772705078125
        ],
        "velocity": [
            -17.59710121154785,
            0.6030694842338562,
            -0.8538219332695007
        ],
        "speed": 17.607432062974798,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 62.576416015625,
        "front_vehicle_info": {
            "id": 4039,
            "type": "vehicle.audi.tt",
            "location": [
                -1313.56298828125,
                3081.088134765625,
                346.04425048828125
            ],
            "velocity": [
                -16.35200309753418,
                0.7579118013381958,
                -0.4208728075027466
            ],
            "speed_kmh": 58.94988397770852,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4094,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1320.3768310546875,
                        "y": 3098.935302734375,
                        "z": 345.95440673828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.2071607112884521,
                        "yaw": -2.938446283340454
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4093,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.072916984558105,
                "transform": {
                    "location": {
                        "x": -1313.8304443359375,
                        "y": 3105.61865234375,
                        "z": 346.0177307128906
                    },
                    "rotation": {
                        "roll": -0.004150388762354851,
                        "pitch": 1.4301732778549194,
                        "yaw": -2.658935546875
                    }
                },
                "velocity": {
                    "x": 8.065139770507812,
                    "y": -0.34595638513565063,
                    "z": 0.07633369415998459
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4092,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.200828552246094,
                "transform": {
                    "location": {
                        "x": -1314.018310546875,
                        "y": 3102.1298828125,
                        "z": 346.0237121582031
                    },
                    "rotation": {
                        "roll": -0.0598144493997097,
                        "pitch": 1.422243356704712,
                        "yaw": -2.440796136856079
                    }
                },
                "velocity": {
                    "x": 8.193973541259766,
                    "y": -0.30022501945495605,
                    "z": 0.1491614282131195
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4091,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1057.45166015625,
                        "y": 3075.029541015625,
                        "z": 356.2057189941406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0719298124313354,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.656444549560547,
                "transform": {
                    "location": {
                        "x": -1279.2947998046875,
                        "y": 3097.56298828125,
                        "z": 347.2008972167969
                    },
                    "rotation": {
                        "roll": 0.01746782846748829,
                        "pitch": 2.568533420562744,
                        "yaw": -0.818328857421875
                    }
                },
                "velocity": {
                    "x": 7.649611473083496,
                    "y": -0.1255122274160385,
                    "z": 0.2980436384677887
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.533033847808838,
                "transform": {
                    "location": {
                        "x": -1273.07373046875,
                        "y": 3104.44189453125,
                        "z": 347.4398498535156
                    },
                    "rotation": {
                        "roll": 0.0076010869815945625,
                        "pitch": 2.4086592197418213,
                        "yaw": -1.1275634765625
                    }
                },
                "velocity": {
                    "x": 7.524973392486572,
                    "y": -0.150427907705307,
                    "z": 0.31424131989479065
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4088,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.987745761871338,
                "transform": {
                    "location": {
                        "x": -1273.1954345703125,
                        "y": 3100.9443359375,
                        "z": 347.43804931640625
                    },
                    "rotation": {
                        "roll": 0.007609774358570576,
                        "pitch": 2.4118900299072266,
                        "yaw": -1.138824462890625
                    }
                },
                "velocity": {
                    "x": 7.979196071624756,
                    "y": -0.1604979932308197,
                    "z": 0.3327942490577698
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4087,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1107.423583984375,
                        "y": 3076.1455078125,
                        "z": 354.89251708984375
                    },
                    "rotation": {
                        "roll": -1.6685771653257575e-09,
                        "pitch": -2.0333540439605713,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4086,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.008258819580078,
                "transform": {
                    "location": {
                        "x": -1232.2431640625,
                        "y": 3100.03955078125,
                        "z": 349.39544677734375
                    },
                    "rotation": {
                        "roll": 0.001266482868231833,
                        "pitch": 2.940314292907715,
                        "yaw": -1.2708739042282104
                    }
                },
                "velocity": {
                    "x": 7.9958624839782715,
                    "y": -0.17825782299041748,
                    "z": 0.40817975997924805
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4085,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.025537490844727,
                "transform": {
                    "location": {
                        "x": -1233.7176513671875,
                        "y": 3096.570556640625,
                        "z": 349.3191223144531
                    },
                    "rotation": {
                        "roll": 0.0017538220854476094,
                        "pitch": 2.944542169570923,
                        "yaw": -1.26513671875
                    }
                },
                "velocity": {
                    "x": 8.013195991516113,
                    "y": -0.17660632729530334,
                    "z": 0.4083484411239624
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4084,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.005127906799316,
                "transform": {
                    "location": {
                        "x": -1231.78857421875,
                        "y": 3103.528564453125,
                        "z": 349.3996276855469
                    },
                    "rotation": {
                        "roll": 0.0009421337745152414,
                        "pitch": 2.9303150177001953,
                        "yaw": -1.258971929550171
                    }
                },
                "velocity": {
                    "x": 7.992770671844482,
                    "y": -0.1756027489900589,
                    "z": 0.4084831178188324
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4083,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.135481834411621,
                "transform": {
                    "location": {
                        "x": -1229.3914794921875,
                        "y": 3106.9755859375,
                        "z": 349.52410888671875
                    },
                    "rotation": {
                        "roll": 0.0017318951431661844,
                        "pitch": 3.0437984466552734,
                        "yaw": -1.2655638456344604
                    }
                },
                "velocity": {
                    "x": 8.122896194458008,
                    "y": -0.17947015166282654,
                    "z": 0.41522589325904846
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.017923355102539,
                "transform": {
                    "location": {
                        "x": -1188.509521484375,
                        "y": 3102.56298828125,
                        "z": 351.7115478515625
                    },
                    "rotation": {
                        "roll": -0.0003356979286763817,
                        "pitch": 2.837902545928955,
                        "yaw": -1.2785032987594604
                    }
                },
                "velocity": {
                    "x": 8.005987167358398,
                    "y": -0.17992441356182098,
                    "z": 0.398619145154953
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4081,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.965887546539307,
                "transform": {
                    "location": {
                        "x": -1188.782470703125,
                        "y": 3099.068359375,
                        "z": 351.70465087890625
                    },
                    "rotation": {
                        "roll": 0.00018261063087265939,
                        "pitch": 2.8121867179870605,
                        "yaw": -1.2758787870407104
                    }
                },
                "velocity": {
                    "x": 7.954051494598389,
                    "y": -0.17685700953006744,
                    "z": 0.39643362164497375
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4080,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.00628662109375,
                "transform": {
                    "location": {
                        "x": -1189.1209716796875,
                        "y": 3095.575439453125,
                        "z": 351.6838073730469
                    },
                    "rotation": {
                        "roll": 0.0008187251514755189,
                        "pitch": 2.8884527683258057,
                        "yaw": -1.298553466796875
                    }
                },
                "velocity": {
                    "x": 7.994222640991211,
                    "y": -0.1803717166185379,
                    "z": 0.40062224864959717
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4079,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.016648292541504,
                "transform": {
                    "location": {
                        "x": -1185.419189453125,
                        "y": 3105.994873046875,
                        "z": 351.85321044921875
                    },
                    "rotation": {
                        "roll": 0.00015204928058665246,
                        "pitch": 2.7956509590148926,
                        "yaw": -1.286590576171875
                    }
                },
                "velocity": {
                    "x": 8.005505561828613,
                    "y": -0.17888174951076508,
                    "z": 0.3828003704547882
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1152.4996337890625,
                        "y": 3077.15234375,
                        "z": 353.2497863769531
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 16.135038375854492,
                "transform": {
                    "location": {
                        "x": -1193.69189453125,
                        "y": 3078.073486328125,
                        "z": 351.4820556640625
                    },
                    "rotation": {
                        "roll": -0.0005493148346431553,
                        "pitch": -2.9715898036956787,
                        "yaw": 178.72207641601562
                    }
                },
                "velocity": {
                    "x": -16.10944938659668,
                    "y": 0.36039450764656067,
                    "z": -0.8337741494178772
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.394033432006836,
                "transform": {
                    "location": {
                        "x": -1227.2713623046875,
                        "y": 3078.822998046875,
                        "z": 349.6697082519531
                    },
                    "rotation": {
                        "roll": -3.051816747756675e-05,
                        "pitch": -3.022303819656372,
                        "yaw": 178.72076416015625
                    }
                },
                "velocity": {
                    "x": -16.36761474609375,
                    "y": 0.365469366312027,
                    "z": -0.855557382106781
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.374967575073242,
                "transform": {
                    "location": {
                        "x": -1313.56298828125,
                        "y": 3081.088134765625,
                        "z": 346.04425048828125
                    },
                    "rotation": {
                        "roll": 0.009325668215751648,
                        "pitch": -1.4559571743011475,
                        "yaw": 177.34042358398438
                    }
                },
                "velocity": {
                    "x": -16.35200309753418,
                    "y": 0.7579118013381958,
                    "z": -0.4208728075027466
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.49685296416282654,
        "expert_target_speed": 20.0,
        "target_point": [
            39.82665219017284,
            0.8797728798076077
        ],
        "target_point_next": [
            90.86097350800443,
            0.11017115258663912
        ]
    },
    "495": {
        "acceleration": [
            -1.9266128540039062,
            -0.0349581241607666,
            -0.0018954277038574219
        ],
        "angular_velocity": [
            -0.002237247070297599,
            0.8694092035293579,
            0.022765032947063446
        ],
        "forward_vector": [
            -0.9982572197914124,
            0.03663836047053337,
            -0.04626112058758736
        ],
        "right_vector": [
            -0.03665439039468765,
            -0.9993278384208679,
            -0.0005020737880840898
        ],
        "location": [
            -1255.4918212890625,
            3079.978271484375,
            348.2592468261719
        ],
        "rotation": [
            0.028797540813684464,
            -2.6515133380889893,
            177.89805603027344
        ],
        "velocity": [
            -18.042396545410156,
            0.6412904262542725,
            -0.8652064204216003
        ],
        "speed": 18.05378981024853,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 62.216285705566406,
        "front_vehicle_info": {
            "id": 4039,
            "type": "vehicle.audi.tt",
            "location": [
                -1317.6513671875,
                3081.28271484375,
                345.945068359375
            ],
            "velocity": [
                -16.345745086669922,
                0.8157622814178467,
                -0.37152624130249023
            ],
            "speed_kmh": 58.93309761440137,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4094,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.3024678230285645,
                "transform": {
                    "location": {
                        "x": -1318.5655517578125,
                        "y": 3098.84619140625,
                        "z": 345.9027404785156
                    },
                    "rotation": {
                        "roll": -0.009521484375,
                        "pitch": 1.1340640783309937,
                        "yaw": -2.70050048828125
                    }
                },
                "velocity": {
                    "x": 6.296563625335693,
                    "y": -0.24789750576019287,
                    "z": 0.11371085792779922
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4093,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.02751350402832,
                "transform": {
                    "location": {
                        "x": -1311.8199462890625,
                        "y": 3105.536376953125,
                        "z": 346.0640563964844
                    },
                    "rotation": {
                        "roll": 0.004286671057343483,
                        "pitch": 1.5028737783432007,
                        "yaw": -2.1925048828125
                    }
                },
                "velocity": {
                    "x": 8.01909065246582,
                    "y": -0.2835262417793274,
                    "z": 0.23403668403625488
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4092,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.936723232269287,
                "transform": {
                    "location": {
                        "x": -1312.0035400390625,
                        "y": 3102.057373046875,
                        "z": 346.0733642578125
                    },
                    "rotation": {
                        "roll": -0.0158081091940403,
                        "pitch": 1.4971978664398193,
                        "yaw": -2.036133050918579
                    }
                },
                "velocity": {
                    "x": 7.9290595054626465,
                    "y": -0.2720346450805664,
                    "z": 0.21814942359924316
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4091,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1061.69970703125,
                        "y": 3075.124267578125,
                        "z": 356.12701416015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0719298124313354,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.457608222961426,
                "transform": {
                    "location": {
                        "x": -1277.206298828125,
                        "y": 3097.525634765625,
                        "z": 347.28472900390625
                    },
                    "rotation": {
                        "roll": 0.02742629684507847,
                        "pitch": 2.5712382793426514,
                        "yaw": -0.8812561631202698
                    }
                },
                "velocity": {
                    "x": 8.449091911315918,
                    "y": -0.15869662165641785,
                    "z": 0.34468328952789307
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.550030708312988,
                "transform": {
                    "location": {
                        "x": -1270.9913330078125,
                        "y": 3104.399658203125,
                        "z": 347.5268249511719
                    },
                    "rotation": {
                        "roll": 0.0045102969743311405,
                        "pitch": 2.428248167037964,
                        "yaw": -1.2012939453125
                    }
                },
                "velocity": {
                    "x": 8.540339469909668,
                    "y": -0.17836259305477142,
                    "z": 0.36578962206840515
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4088,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.466901779174805,
                "transform": {
                    "location": {
                        "x": -1271.0772705078125,
                        "y": 3100.90087890625,
                        "z": 347.52655029296875
                    },
                    "rotation": {
                        "roll": 0.005383925978094339,
                        "pitch": 2.4175589084625244,
                        "yaw": -1.1795654296875
                    }
                },
                "velocity": {
                    "x": 8.457289695739746,
                    "y": -0.1770830899477005,
                    "z": 0.362374871969223
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4087,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1111.5816650390625,
                        "y": 3076.23876953125,
                        "z": 354.7418212890625
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4086,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.078828811645508,
                "transform": {
                    "location": {
                        "x": -1230.2322998046875,
                        "y": 3099.994873046875,
                        "z": 349.4978942871094
                    },
                    "rotation": {
                        "roll": 0.0005645531928166747,
                        "pitch": 2.965080499649048,
                        "yaw": -1.277862548828125
                    }
                },
                "velocity": {
                    "x": 8.06630802154541,
                    "y": -0.18007653951644897,
                    "z": 0.4119868278503418
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4085,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.022663116455078,
                "transform": {
                    "location": {
                        "x": -1231.714111328125,
                        "y": 3096.526611328125,
                        "z": 349.42138671875
                    },
                    "rotation": {
                        "roll": 0.0003339018439874053,
                        "pitch": 2.941373109817505,
                        "yaw": -1.2651976346969604
                    }
                },
                "velocity": {
                    "x": 8.010284423828125,
                    "y": -0.17718924582004547,
                    "z": 0.4087536633014679
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4084,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.042882919311523,
                "transform": {
                    "location": {
                        "x": -1229.784912109375,
                        "y": 3103.484375,
                        "z": 349.5018615722656
                    },
                    "rotation": {
                        "roll": 0.0013303296873345971,
                        "pitch": 2.928982973098755,
                        "yaw": -1.266021728515625
                    }
                },
                "velocity": {
                    "x": 8.030436515808105,
                    "y": -0.1774968057870865,
                    "z": 0.4105628728866577
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4083,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.91688871383667,
                "transform": {
                    "location": {
                        "x": -1227.392333984375,
                        "y": 3106.931396484375,
                        "z": 349.6275329589844
                    },
                    "rotation": {
                        "roll": 0.002398822922259569,
                        "pitch": 2.9863157272338867,
                        "yaw": -1.2719117403030396
                    }
                },
                "velocity": {
                    "x": 7.904210567474365,
                    "y": -0.17553699016571045,
                    "z": 0.4120319187641144
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1186.4776611328125,
                        "y": 3102.4892578125,
                        "z": 351.81121826171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.7430858612060547,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4081,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1186.77001953125,
                        "y": 3099.00830078125,
                        "z": 351.8034362792969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.7430858612060547,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4080,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.004230499267578,
                "transform": {
                    "location": {
                        "x": -1187.1226806640625,
                        "y": 3095.530517578125,
                        "z": 351.7825012207031
                    },
                    "rotation": {
                        "roll": 0.00037043410702608526,
                        "pitch": 2.8659744262695312,
                        "yaw": -1.269927978515625
                    }
                },
                "velocity": {
                    "x": 7.992589473724365,
                    "y": -0.1790064424276352,
                    "z": 0.39265525341033936
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4079,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1183.3436279296875,
                        "y": 3105.872314453125,
                        "z": 351.9569396972656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.6210849285125732,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1156.522216796875,
                        "y": 3077.24267578125,
                        "z": 353.1028747558594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.133115768432617,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 16.066823959350586,
                "transform": {
                    "location": {
                        "x": -1197.7088623046875,
                        "y": 3078.162841796875,
                        "z": 351.2712097167969
                    },
                    "rotation": {
                        "roll": -0.0015563946217298508,
                        "pitch": -3.092525005340576,
                        "yaw": 178.72445678710938
                    }
                },
                "velocity": {
                    "x": -16.039899826049805,
                    "y": 0.35722842812538147,
                    "z": -0.8584039807319641
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.39251136779785,
                "transform": {
                    "location": {
                        "x": -1231.364013671875,
                        "y": 3078.91455078125,
                        "z": 349.45855712890625
                    },
                    "rotation": {
                        "roll": 0.00022012082627043128,
                        "pitch": -2.928586959838867,
                        "yaw": 178.71946716308594
                    }
                },
                "velocity": {
                    "x": -16.367231369018555,
                    "y": 0.3657034635543823,
                    "z": -0.8333409428596497
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.370304107666016,
                "transform": {
                    "location": {
                        "x": -1317.6513671875,
                        "y": 3081.28271484375,
                        "z": 345.945068359375
                    },
                    "rotation": {
                        "roll": 0.010380778461694717,
                        "pitch": -1.290953516960144,
                        "yaw": 177.14955139160156
                    }
                },
                "velocity": {
                    "x": -16.345745086669922,
                    "y": 0.8157622814178467,
                    "z": -0.37152624130249023
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.6524372100830078,
        "expert_target_speed": 20.0,
        "target_point": [
            35.37518215943731,
            1.020073746245651
        ],
        "target_point_next": [
            86.41197795792273,
            0.4372240109602923
        ]
    },
    "500": {
        "acceleration": [
            -0.5675506591796875,
            -0.3487873077392578,
            0.0036597251892089844
        ],
        "angular_velocity": [
            -0.3787078261375427,
            -0.23679378628730774,
            1.5169588327407837
        ],
        "forward_vector": [
            -0.9984312653541565,
            0.032647211104631424,
            -0.04548802971839905
        ],
        "right_vector": [
            -0.03269851952791214,
            -0.9994651675224304,
            0.0003841624711640179
        ],
        "location": [
            -1260.03515625,
            3080.135009765625,
            348.04364013671875
        ],
        "rotation": [
            -0.0220336951315403,
            -2.6071717739105225,
            178.12718200683594
        ],
        "velocity": [
            -18.25294303894043,
            0.5943019390106201,
            -0.8578672409057617
        ],
        "speed": 18.262615485672246,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.756813049316406,
        "front_vehicle_info": {
            "id": 4039,
            "type": "vehicle.audi.tt",
            "location": [
                -1321.7384033203125,
                3081.490234375,
                345.858154296875
            ],
            "velocity": [
                -16.339847564697266,
                0.8651819229125977,
                -0.3186565339565277
            ],
            "speed_kmh": 58.91702194089148,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4094,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.995325088500977,
                "transform": {
                    "location": {
                        "x": -1317.0308837890625,
                        "y": 3098.785888671875,
                        "z": 345.9392395019531
                    },
                    "rotation": {
                        "roll": 0.004643287509679794,
                        "pitch": 1.2687349319458008,
                        "yaw": -2.298767328262329
                    }
                },
                "velocity": {
                    "x": 5.989489555358887,
                    "y": -0.2182634472846985,
                    "z": 0.14932547509670258
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4093,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.910261631011963,
                "transform": {
                    "location": {
                        "x": -1309.8294677734375,
                        "y": 3105.466796875,
                        "z": 346.1208801269531
                    },
                    "rotation": {
                        "roll": 0.03235949948430061,
                        "pitch": 1.6292390823364258,
                        "yaw": -1.7872921228408813
                    }
                },
                "velocity": {
                    "x": 7.9031195640563965,
                    "y": -0.24847419559955597,
                    "z": 0.22628732025623322
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4092,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.044352531433105,
                "transform": {
                    "location": {
                        "x": -1310.0059814453125,
                        "y": 3101.990478515625,
                        "z": 346.128662109375
                    },
                    "rotation": {
                        "roll": 0.0009095603018067777,
                        "pitch": 1.637599229812622,
                        "yaw": -1.910614013671875
                    }
                },
                "velocity": {
                    "x": 8.03697395324707,
                    "y": -0.26440495252609253,
                    "z": 0.22079944610595703
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4091,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1065.94775390625,
                        "y": 3075.21923828125,
                        "z": 356.0453796386719
                    },
                    "rotation": {
                        "roll": 1.6678640690770408e-09,
                        "pitch": -1.1525875329971313,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.071966171264648,
                "transform": {
                    "location": {
                        "x": -1275.1484375,
                        "y": 3097.48486328125,
                        "z": 347.3712463378906
                    },
                    "rotation": {
                        "roll": 0.021705294027924538,
                        "pitch": 2.322742223739624,
                        "yaw": -0.7124938368797302
                    }
                },
                "velocity": {
                    "x": 8.063474655151367,
                    "y": -0.1552172303199768,
                    "z": 0.3360244631767273
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.083871841430664,
                "transform": {
                    "location": {
                        "x": -1268.91943359375,
                        "y": 3104.356201171875,
                        "z": 347.6162414550781
                    },
                    "rotation": {
                        "roll": 0.0017915645148605108,
                        "pitch": 2.5120410919189453,
                        "yaw": -1.2389222383499146
                    }
                },
                "velocity": {
                    "x": 8.074371337890625,
                    "y": -0.17152297496795654,
                    "z": 0.3522769808769226
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4088,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.9933953285217285,
                "transform": {
                    "location": {
                        "x": -1269.0272216796875,
                        "y": 3100.8564453125,
                        "z": 347.614990234375
                    },
                    "rotation": {
                        "roll": 0.010337579995393753,
                        "pitch": 2.508653163909912,
                        "yaw": -1.0456236600875854
                    }
                },
                "velocity": {
                    "x": 7.984048366546631,
                    "y": -0.16735275089740753,
                    "z": 0.3483269512653351
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4087,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1115.73388671875,
                        "y": 3076.33154296875,
                        "z": 354.5904541015625
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4086,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.009682655334473,
                "transform": {
                    "location": {
                        "x": -1228.224365234375,
                        "y": 3099.949951171875,
                        "z": 349.60101318359375
                    },
                    "rotation": {
                        "roll": 0.00011647589417407289,
                        "pitch": 2.964909791946411,
                        "yaw": -1.283233404159546
                    }
                },
                "velocity": {
                    "x": 7.996891975402832,
                    "y": -0.17907296121120453,
                    "z": 0.4155367910861969
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4085,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.01883316040039,
                "transform": {
                    "location": {
                        "x": -1229.7125244140625,
                        "y": 3096.481689453125,
                        "z": 349.5235900878906
                    },
                    "rotation": {
                        "roll": 0.0009289850713685155,
                        "pitch": 2.9407172203063965,
                        "yaw": -1.279449462890625
                    }
                },
                "velocity": {
                    "x": 8.006429672241211,
                    "y": -0.17850174009799957,
                    "z": 0.4085432291030884
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4084,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.989027976989746,
                "transform": {
                    "location": {
                        "x": -1227.784912109375,
                        "y": 3103.43994140625,
                        "z": 349.6046142578125
                    },
                    "rotation": {
                        "roll": 0.0015721285017207265,
                        "pitch": 2.9610166549682617,
                        "yaw": -1.2742613554000854
                    }
                },
                "velocity": {
                    "x": 7.976125717163086,
                    "y": -0.1775231510400772,
                    "z": 0.4177049994468689
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4083,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029393196105957,
                "transform": {
                    "location": {
                        "x": -1225.406005859375,
                        "y": 3106.887451171875,
                        "z": 349.7308654785156
                    },
                    "rotation": {
                        "roll": -0.0003356908564455807,
                        "pitch": 3.089840888977051,
                        "yaw": -1.2691344022750854
                    }
                },
                "velocity": {
                    "x": 8.01634407043457,
                    "y": -0.1776214987039566,
                    "z": 0.4217072129249573
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4082,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1184.4000244140625,
                        "y": 3102.373779296875,
                        "z": 351.91265869140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.7430858612060547,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4081,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1184.6922607421875,
                        "y": 3098.887451171875,
                        "z": 351.9024963378906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.7430858612060547,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4080,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1185.045654296875,
                        "y": 3095.4052734375,
                        "z": 351.8877258300781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.7430858612060547,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1160.5760498046875,
                        "y": 3077.3330078125,
                        "z": 352.95404052734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.133115768432617,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 16.037193298339844,
                "transform": {
                    "location": {
                        "x": -1201.71142578125,
                        "y": 3078.252197265625,
                        "z": 351.05462646484375
                    },
                    "rotation": {
                        "roll": 0.00020482565741986036,
                        "pitch": -3.170621395111084,
                        "yaw": 178.7194366455078
                    }
                },
                "velocity": {
                    "x": -16.00910758972168,
                    "y": 0.3565157949924469,
                    "z": -0.879150927066803
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.392255783081055,
                "transform": {
                    "location": {
                        "x": -1235.4556884765625,
                        "y": 3079.006103515625,
                        "z": 349.2503356933594
                    },
                    "rotation": {
                        "roll": -0.0008544905576854944,
                        "pitch": -2.934570074081421,
                        "yaw": 178.71913146972656
                    }
                },
                "velocity": {
                    "x": -16.366971969604492,
                    "y": 0.36616018414497375,
                    "z": -0.8331929445266724
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.3658390045166,
                "transform": {
                    "location": {
                        "x": -1321.7384033203125,
                        "y": 3081.490234375,
                        "z": 345.858154296875
                    },
                    "rotation": {
                        "roll": 0.00891149416565895,
                        "pitch": -1.1180404424667358,
                        "yaw": 177.00408935546875
                    }
                },
                "velocity": {
                    "x": -16.339847564697266,
                    "y": 0.8651819229125977,
                    "z": -0.3186565339565277
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.962246298789978,
        "expert_target_speed": 20.0,
        "target_point": [
            30.832947923697052,
            0.8867836123021446
        ],
        "target_point_next": [
            81.867005014293,
            0.09985536651579396
        ]
    },
    "505": {
        "acceleration": [
            -0.1021575927734375,
            -0.610550045967102,
            0.11720776557922363
        ],
        "angular_velocity": [
            -0.4114665687084198,
            0.6566972732543945,
            2.1535112857818604
        ],
        "forward_vector": [
            -0.9987304210662842,
            0.024194838479161263,
            -0.04418293014168739
        ],
        "right_vector": [
            -0.024319611489772797,
            -0.9997016191482544,
            0.002288611838594079
        ],
        "location": [
            -1264.6123046875,
            3080.26904296875,
            347.83160400390625
        ],
        "rotation": [
            -0.131256103515625,
            -2.5323197841644287,
            178.61224365234375
        ],
        "velocity": [
            -18.33192253112793,
            0.46368998289108276,
            -0.8297404050827026
        ],
        "speed": 18.337785910177637,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.26277160644531,
        "front_vehicle_info": {
            "id": 4039,
            "type": "vehicle.audi.tt",
            "location": [
                -1325.8238525390625,
                3081.71142578125,
                345.7839050292969
            ],
            "velocity": [
                -16.33411407470703,
                0.9045299887657166,
                -0.26858600974082947
            ],
            "speed_kmh": 58.900840387363615,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4094,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.896974563598633,
                "transform": {
                    "location": {
                        "x": -1315.51416015625,
                        "y": 3098.72998046875,
                        "z": 345.9767761230469
                    },
                    "rotation": {
                        "roll": 0.014231937006115913,
                        "pitch": 1.350806474685669,
                        "yaw": -2.130462646484375
                    }
                },
                "velocity": {
                    "x": 5.891265869140625,
                    "y": -0.2111714631319046,
                    "z": 0.1506785750389099
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4093,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.857468128204346,
                "transform": {
                    "location": {
                        "x": -1307.8599853515625,
                        "y": 3105.405029296875,
                        "z": 346.1781921386719
                    },
                    "rotation": {
                        "roll": 0.0316544808447361,
                        "pitch": 1.709794282913208,
                        "yaw": -1.6236571073532104
                    }
                },
                "velocity": {
                    "x": 7.850030899047852,
                    "y": -0.24334673583507538,
                    "z": 0.24000149965286255
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4092,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.771885871887207,
                "transform": {
                    "location": {
                        "x": -1308.031494140625,
                        "y": 3101.92529296875,
                        "z": 346.1857604980469
                    },
                    "rotation": {
                        "roll": 0.015484771691262722,
                        "pitch": 1.6856837272644043,
                        "yaw": -1.8986817598342896
                    }
                },
                "velocity": {
                    "x": 7.763866901397705,
                    "y": -0.2614516615867615,
                    "z": 0.23710897564888
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4091,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1070.1466064453125,
                        "y": 3075.31298828125,
                        "z": 355.9579162597656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.2692198753356934,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.818512439727783,
                "transform": {
                    "location": {
                        "x": -1273.179931640625,
                        "y": 3097.4462890625,
                        "z": 347.4538269042969
                    },
                    "rotation": {
                        "roll": 0.028981365263462067,
                        "pitch": 2.325248956680298,
                        "yaw": -0.6290892958641052
                    }
                },
                "velocity": {
                    "x": 7.810168266296387,
                    "y": -0.15127840638160706,
                    "z": 0.3279110789299011
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.877972602844238,
                "transform": {
                    "location": {
                        "x": -1266.93359375,
                        "y": 3104.3134765625,
                        "z": 347.7037353515625
                    },
                    "rotation": {
                        "roll": 0.0015982448821887374,
                        "pitch": 2.551792621612549,
                        "yaw": -1.2540583610534668
                    }
                },
                "velocity": {
                    "x": 7.86826753616333,
                    "y": -0.17192482948303223,
                    "z": 0.35108497738838196
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4088,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.885375499725342,
                "transform": {
                    "location": {
                        "x": -1267.051513671875,
                        "y": 3100.81396484375,
                        "z": 347.701904296875
                    },
                    "rotation": {
                        "roll": 0.014373834244906902,
                        "pitch": 2.5538008213043213,
                        "yaw": -0.9645994901657104
                    }
                },
                "velocity": {
                    "x": 7.87572717666626,
                    "y": -0.16671204566955566,
                    "z": 0.35253310203552246
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4087,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1119.8328857421875,
                        "y": 3076.423095703125,
                        "z": 354.4410095214844
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4086,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.04244327545166,
                "transform": {
                    "location": {
                        "x": -1226.221435546875,
                        "y": 3099.9052734375,
                        "z": 349.7049560546875
                    },
                    "rotation": {
                        "roll": -0.0004272428050171584,
                        "pitch": 3.035602331161499,
                        "yaw": -1.283203125
                    }
                },
                "velocity": {
                    "x": 8.029435157775879,
                    "y": -0.17987985908985138,
                    "z": 0.42036956548690796
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4085,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.021937370300293,
                "transform": {
                    "location": {
                        "x": -1227.7099609375,
                        "y": 3096.436767578125,
                        "z": 349.6268005371094
                    },
                    "rotation": {
                        "roll": -3.052063038921915e-05,
                        "pitch": 2.9911036491394043,
                        "yaw": -1.280670166015625
                    }
                },
                "velocity": {
                    "x": 8.00910472869873,
                    "y": -0.17928192019462585,
                    "z": 0.41663429141044617
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4084,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.049169540405273,
                "transform": {
                    "location": {
                        "x": -1225.7821044921875,
                        "y": 3103.395263671875,
                        "z": 349.7088928222656
                    },
                    "rotation": {
                        "roll": -0.0005493168719112873,
                        "pitch": 3.0287516117095947,
                        "yaw": -1.2755738496780396
                    }
                },
                "velocity": {
                    "x": 8.036048889160156,
                    "y": -0.17913997173309326,
                    "z": 0.42304328083992004
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4083,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.026551246643066,
                "transform": {
                    "location": {
                        "x": -1223.39599609375,
                        "y": 3106.8427734375,
                        "z": 349.83685302734375
                    },
                    "rotation": {
                        "roll": 0.0021654150914400816,
                        "pitch": 3.0860636234283447,
                        "yaw": -1.2707823514938354
                    }
                },
                "velocity": {
                    "x": 8.013415336608887,
                    "y": -0.1788276880979538,
                    "z": 0.4227467179298401
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1164.6258544921875,
                        "y": 3077.42333984375,
                        "z": 352.79827880859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.255096197128296,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 16.02109718322754,
                "transform": {
                    "location": {
                        "x": -1205.7093505859375,
                        "y": 3078.341552734375,
                        "z": 350.8343200683594
                    },
                    "rotation": {
                        "roll": 0.0006555416039191186,
                        "pitch": -3.1977577209472656,
                        "yaw": 178.72105407714844
                    }
                },
                "velocity": {
                    "x": -15.992606163024902,
                    "y": 0.3584010601043701,
                    "z": -0.8852499723434448
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.390731811523438,
                "transform": {
                    "location": {
                        "x": -1239.5482177734375,
                        "y": 3079.097412109375,
                        "z": 349.0437927246094
                    },
                    "rotation": {
                        "roll": -0.0003051763924304396,
                        "pitch": -2.843960762023926,
                        "yaw": 178.72100830078125
                    }
                },
                "velocity": {
                    "x": -16.366239547729492,
                    "y": 0.3653060495853424,
                    "z": -0.8178409934043884
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.361345291137695,
                "transform": {
                    "location": {
                        "x": -1325.8238525390625,
                        "y": 3081.71142578125,
                        "z": 345.7839050292969
                    },
                    "rotation": {
                        "roll": 0.006898263469338417,
                        "pitch": -0.9466846585273743,
                        "yaw": 176.8038330078125
                    }
                },
                "velocity": {
                    "x": -16.33411407470703,
                    "y": 0.9045299887657166,
                    "z": -0.26858600974082947
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 1.0021864175796509,
        "expert_target_speed": 20.0,
        "target_point": [
            26.26029857225505,
            0.648859810778379
        ],
        "target_point_next": [
            77.28586443574753,
            -0.570101837762508
        ]
    },
    "510": {
        "acceleration": [
            -0.15674591064453125,
            -0.33682048320770264,
            0.009173154830932617
        ],
        "angular_velocity": [
            0.07325375825166702,
            -0.03463505208492279,
            0.726676881313324
        ],
        "forward_vector": [
            -0.9988496899604797,
            0.018456054851412773,
            -0.04425688460469246
        ],
        "right_vector": [
            -0.018594687804579735,
            -0.9998234510421753,
            0.002722805133089423
        ],
        "location": [
            -1269.1981201171875,
            3080.3720703125,
            347.6285095214844
        ],
        "rotation": [
            -0.156158447265625,
            -2.5365612506866455,
            178.9414520263672
        ],
        "velocity": [
            -18.35786247253418,
            0.3648492991924286,
            -0.8088831305503845
        ],
        "speed": 18.361487673159818,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.75981140136719,
        "front_vehicle_info": {
            "id": 4039,
            "type": "vehicle.audi.tt",
            "location": [
                -1329.9075927734375,
                3081.947021484375,
                345.7221374511719
            ],
            "velocity": [
                -16.3265380859375,
                0.9697868824005127,
                -0.2172325700521469
            ],
            "speed_kmh": 58.88432772020095,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4096,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -1346.45654296875,
                        "y": 3107.6064453125,
                        "z": 345.94927978515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.45702841877937317,
                        "yaw": -4.286470413208008
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4095,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -1346.7181396484375,
                        "y": 3104.116455078125,
                        "z": 345.94927978515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.45702841877937317,
                        "yaw": -4.286470413208008
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4094,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.027013778686523,
                "transform": {
                    "location": {
                        "x": -1314.1961669921875,
                        "y": 3098.682373046875,
                        "z": 346.0095520019531
                    },
                    "rotation": {
                        "roll": 0.011921469122171402,
                        "pitch": 1.4205222129821777,
                        "yaw": -2.078216552734375
                    }
                },
                "velocity": {
                    "x": 5.022257328033447,
                    "y": -0.1791168600320816,
                    "z": 0.1253567636013031
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4093,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.371679782867432,
                "transform": {
                    "location": {
                        "x": -1305.9210205078125,
                        "y": 3105.344970703125,
                        "z": 346.2378845214844
                    },
                    "rotation": {
                        "roll": 0.037771645933389664,
                        "pitch": 1.8109904527664185,
                        "yaw": -1.724395751953125
                    }
                },
                "velocity": {
                    "x": 7.364243984222412,
                    "y": -0.2351987063884735,
                    "z": 0.23292599618434906
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4092,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.4643402099609375,
                "transform": {
                    "location": {
                        "x": -1306.2177734375,
                        "y": 3101.86376953125,
                        "z": 346.2416687011719
                    },
                    "rotation": {
                        "roll": 0.013878699392080307,
                        "pitch": 1.5767695903778076,
                        "yaw": -1.936371088027954
                    }
                },
                "velocity": {
                    "x": 6.4574713706970215,
                    "y": -0.22146791219711304,
                    "z": 0.19928018748760223
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4091,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1074.246826171875,
                        "y": 3075.404541015625,
                        "z": 355.8667907714844
                    },
                    "rotation": {
                        "roll": -1.6680091752263593e-09,
                        "pitch": -1.3783526420593262,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.242030143737793,
                "transform": {
                    "location": {
                        "x": -1271.1671142578125,
                        "y": 3097.4072265625,
                        "z": 347.5368957519531
                    },
                    "rotation": {
                        "roll": 0.031850989907979965,
                        "pitch": 2.490006685256958,
                        "yaw": -0.6335448622703552
                    }
                },
                "velocity": {
                    "x": 8.233036994934082,
                    "y": -0.16196465492248535,
                    "z": 0.34917768836021423
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.89229679107666,
                "transform": {
                    "location": {
                        "x": -1264.9688720703125,
                        "y": 3104.2705078125,
                        "z": 347.7914123535156
                    },
                    "rotation": {
                        "roll": 0.0004678374098148197,
                        "pitch": 2.5493338108062744,
                        "yaw": -1.26239013671875
                    }
                },
                "velocity": {
                    "x": 7.882594585418701,
                    "y": -0.17366614937782288,
                    "z": 0.35056090354919434
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4088,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.892399311065674,
                "transform": {
                    "location": {
                        "x": -1265.0845947265625,
                        "y": 3100.772216796875,
                        "z": 347.78973388671875
                    },
                    "rotation": {
                        "roll": 0.01629600115120411,
                        "pitch": 2.550126075744629,
                        "yaw": -0.9180299043655396
                    }
                },
                "velocity": {
                    "x": 7.882813453674316,
                    "y": -0.16711515188217163,
                    "z": 0.3511359989643097
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4087,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1123.9813232421875,
                        "y": 3076.515869140625,
                        "z": 354.28973388671875
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4086,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.028103828430176,
                "transform": {
                    "location": {
                        "x": -1224.215087890625,
                        "y": 3099.8603515625,
                        "z": 349.8103332519531
                    },
                    "rotation": {
                        "roll": 6.339974061120301e-05,
                        "pitch": 3.060518741607666,
                        "yaw": -1.279998779296875
                    }
                },
                "velocity": {
                    "x": 8.014933586120605,
                    "y": -0.17983463406562805,
                    "z": 0.42302680015563965
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4085,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.019486427307129,
                "transform": {
                    "location": {
                        "x": -1225.70751953125,
                        "y": 3096.39208984375,
                        "z": 349.7310791015625
                    },
                    "rotation": {
                        "roll": 0.0007731025107204914,
                        "pitch": 3.039673089981079,
                        "yaw": -1.2795408964157104
                    }
                },
                "velocity": {
                    "x": 8.006434440612793,
                    "y": -0.17870216071605682,
                    "z": 0.42098456621170044
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4084,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.989124774932861,
                "transform": {
                    "location": {
                        "x": -1223.781005859375,
                        "y": 3103.350830078125,
                        "z": 349.81439208984375
                    },
                    "rotation": {
                        "roll": 0.0006741688121110201,
                        "pitch": 3.0232326984405518,
                        "yaw": -1.2733763456344604
                    }
                },
                "velocity": {
                    "x": 7.976142406463623,
                    "y": -0.17706172168254852,
                    "z": 0.4194294512271881
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4083,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.964951992034912,
                "transform": {
                    "location": {
                        "x": -1221.4052734375,
                        "y": 3106.798583984375,
                        "z": 349.94189453125
                    },
                    "rotation": {
                        "roll": 0.0006166331004351377,
                        "pitch": 3.059391736984253,
                        "yaw": -1.2727965116500854
                    }
                },
                "velocity": {
                    "x": 7.95192813873291,
                    "y": -0.17665620148181915,
                    "z": 0.4196378290653229
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1168.6763916015625,
                        "y": 3077.513916015625,
                        "z": 352.6351013183594
                    },
                    "rotation": {
                        "roll": 3.3379254915644196e-09,
                        "pitch": -2.3771309852600098,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 16.025312423706055,
                "transform": {
                    "location": {
                        "x": -1209.70947265625,
                        "y": 3078.430908203125,
                        "z": 350.6136779785156
                    },
                    "rotation": {
                        "roll": -0.0006103487103246152,
                        "pitch": -3.1595771312713623,
                        "yaw": 178.71792602539062
                    }
                },
                "velocity": {
                    "x": -15.997427940368652,
                    "y": 0.3565954864025116,
                    "z": -0.8750870823860168
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.389991760253906,
                "transform": {
                    "location": {
                        "x": -1243.6397705078125,
                        "y": 3079.189208984375,
                        "z": 348.8419494628906
                    },
                    "rotation": {
                        "roll": 0.0008540920098312199,
                        "pitch": -2.8396852016448975,
                        "yaw": 178.71267700195312
                    }
                },
                "velocity": {
                    "x": -16.36602210998535,
                    "y": 0.36724841594696045,
                    "z": -0.8063958287239075
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4039,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.35675811767578,
                "transform": {
                    "location": {
                        "x": -1329.9075927734375,
                        "y": 3081.947021484375,
                        "z": 345.7221374511719
                    },
                    "rotation": {
                        "roll": 0.009060706943273544,
                        "pitch": -0.7718523144721985,
                        "yaw": 176.57965087890625
                    }
                },
                "velocity": {
                    "x": -16.3265380859375,
                    "y": 0.9697868824005127,
                    "z": -0.2172325700521469
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 1.0014913082122803,
        "expert_target_speed": 20.0,
        "target_point": [
            21.67665719596415,
            0.51625482921235
        ],
        "target_point_next": [
            72.69437677320488,
            -0.9958722581216171
        ]
    },
    "515": {
        "acceleration": [
            -0.232696533203125,
            -0.20287275314331055,
            0.1324176788330078
        ],
        "angular_velocity": [
            0.10268644988536835,
            0.1525561362504959,
            0.5275967121124268
        ],
        "forward_vector": [
            -0.9990114569664001,
            0.01590091548860073,
            -0.04151200130581856
        ],
        "right_vector": [
            -0.016009679064154625,
            -0.9998692274093628,
            0.002288874238729477
        ],
        "location": [
            -1273.795166015625,
            3080.45556640625,
            347.43231201171875
        ],
        "rotation": [
            -0.1312560886144638,
            -2.379146099090576,
            179.08811950683594
        ],
        "velocity": [
            -18.408632278442383,
            0.30256596207618713,
            -0.7628779411315918
        ],
        "speed": 18.41111861143472,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 116.49761962890625,
        "front_vehicle_info": {
            "id": 4045,
            "type": "vehicle.ford.mustang",
            "location": [
                -1390.0933837890625,
                3087.047119140625,
                345.7083435058594
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4096,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1345.2083740234375,
                        "y": 3107.5146484375,
                        "z": 345.7264709472656
                    },
                    "rotation": {
                        "roll": -1.6675831826518106e-09,
                        "pitch": 0.4717884659767151,
                        "yaw": -4.147340297698975
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4095,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1345.4700927734375,
                        "y": 3104.024658203125,
                        "z": 345.7270202636719
                    },
                    "rotation": {
                        "roll": -1.6675831826518106e-09,
                        "pitch": 0.4717884659767151,
                        "yaw": -4.147340297698975
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4094,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.881004810333252,
                "transform": {
                    "location": {
                        "x": -1312.8524169921875,
                        "y": 3098.632080078125,
                        "z": 346.0433044433594
                    },
                    "rotation": {
                        "roll": 0.012699921615421772,
                        "pitch": 1.5158579349517822,
                        "yaw": -2.162048578262329
                    }
                },
                "velocity": {
                    "x": 5.874788761138916,
                    "y": -0.22360001504421234,
                    "z": 0.1519145369529724
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4093,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.642446994781494,
                "transform": {
                    "location": {
                        "x": -1304.2203369140625,
                        "y": 3105.291259765625,
                        "z": 346.29254150390625
                    },
                    "rotation": {
                        "roll": 0.01649889163672924,
                        "pitch": 1.8515548706054688,
                        "yaw": -1.864898681640625
                    }
                },
                "velocity": {
                    "x": 6.635223865509033,
                    "y": -0.21791145205497742,
                    "z": 0.22005364298820496
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4092,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.25993013381958,
                "transform": {
                    "location": {
                        "x": -1304.650146484375,
                        "y": 3101.8095703125,
                        "z": 346.291015625
                    },
                    "rotation": {
                        "roll": 0.010710149072110653,
                        "pitch": 1.776593565940857,
                        "yaw": -1.960357666015625
                    }
                },
                "velocity": {
                    "x": 6.252925872802734,
                    "y": -0.21561411023139954,
                    "z": 0.20285862684249878
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4091,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1078.3970947265625,
                        "y": 3075.4970703125,
                        "z": 355.7680358886719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.4875195026397705,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.951963424682617,
                "transform": {
                    "location": {
                        "x": -1269.1422119140625,
                        "y": 3097.366455078125,
                        "z": 347.6244201660156
                    },
                    "rotation": {
                        "roll": 0.02859102003276348,
                        "pitch": 2.5234336853027344,
                        "yaw": -0.6634213328361511
                    }
                },
                "velocity": {
                    "x": 7.942693710327148,
                    "y": -0.162563294172287,
                    "z": 0.34772253036499023
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.003265380859375,
                "transform": {
                    "location": {
                        "x": -1262.981201171875,
                        "y": 3104.2265625,
                        "z": 347.88043212890625
                    },
                    "rotation": {
                        "roll": 0.0004636635130736977,
                        "pitch": 2.583716869354248,
                        "yaw": -1.2724609375
                    }
                },
                "velocity": {
                    "x": 7.992742538452148,
                    "y": -0.17822180688381195,
                    "z": 0.36954742670059204
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4088,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.016708374023438,
                "transform": {
                    "location": {
                        "x": -1263.094970703125,
                        "y": 3100.72998046875,
                        "z": 347.8787841796875
                    },
                    "rotation": {
                        "roll": 0.01474173553287983,
                        "pitch": 2.5817363262176514,
                        "yaw": -0.9465636610984802
                    }
                },
                "velocity": {
                    "x": 8.006386756896973,
                    "y": -0.17130519449710846,
                    "z": 0.36883726716041565
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4087,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1128.086181640625,
                        "y": 3076.607666015625,
                        "z": 354.1400451660156
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4086,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.048511505126953,
                "transform": {
                    "location": {
                        "x": -1222.208740234375,
                        "y": 3099.815673828125,
                        "z": 349.9163513183594
                    },
                    "rotation": {
                        "roll": -0.0007019040058366954,
                        "pitch": 3.042323112487793,
                        "yaw": -1.280975341796875
                    }
                },
                "velocity": {
                    "x": 8.035355567932129,
                    "y": -0.17961885035037994,
                    "z": 0.4234720468521118
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4085,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.020954132080078,
                "transform": {
                    "location": {
                        "x": -1223.7059326171875,
                        "y": 3096.34765625,
                        "z": 349.83660888671875
                    },
                    "rotation": {
                        "roll": 0.00019927237008232623,
                        "pitch": 3.036360502243042,
                        "yaw": -1.2715147733688354
                    }
                },
                "velocity": {
                    "x": 8.007801055908203,
                    "y": -0.1780536025762558,
                    "z": 0.4232384264469147
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4084,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.04611587524414,
                "transform": {
                    "location": {
                        "x": -1221.7796630859375,
                        "y": 3103.30615234375,
                        "z": 349.9198303222656
                    },
                    "rotation": {
                        "roll": -0.0005493175121955574,
                        "pitch": 3.023376226425171,
                        "yaw": -1.2790831327438354
                    }
                },
                "velocity": {
                    "x": 8.032971382141113,
                    "y": -0.17948399484157562,
                    "z": 0.4232458472251892
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4083,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.038132667541504,
                "transform": {
                    "location": {
                        "x": -1219.406005859375,
                        "y": 3106.75390625,
                        "z": 350.04718017578125
                    },
                    "rotation": {
                        "roll": 0.0020503494888544083,
                        "pitch": 3.08439040184021,
                        "yaw": -1.276947021484375
                    }
                },
                "velocity": {
                    "x": 8.025103569030762,
                    "y": -0.17891079187393188,
                    "z": 0.42105019092559814
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1172.7357177734375,
                        "y": 3077.604248046875,
                        "z": 352.4647521972656
                    },
                    "rotation": {
                        "roll": -1.6691140691804662e-09,
                        "pitch": -2.499084234237671,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 16.119661331176758,
                "transform": {
                    "location": {
                        "x": -1213.7271728515625,
                        "y": 3078.5205078125,
                        "z": 350.3949890136719
                    },
                    "rotation": {
                        "roll": -0.00015258131315931678,
                        "pitch": -3.096315860748291,
                        "yaw": 178.7193145751953
                    }
                },
                "velocity": {
                    "x": -16.092144012451172,
                    "y": 0.35885319113731384,
                    "z": -0.8704074025154114
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.389631271362305,
                "transform": {
                    "location": {
                        "x": -1247.731201171875,
                        "y": 3079.280517578125,
                        "z": 348.6405334472656
                    },
                    "rotation": {
                        "roll": -0.00021361919061746448,
                        "pitch": -2.822650671005249,
                        "yaw": 178.72166442871094
                    }
                },
                "velocity": {
                    "x": -16.365882873535156,
                    "y": 0.36551180481910706,
                    "z": -0.8026687502861023
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9983216524124146,
        "expert_target_speed": 20.0,
        "target_point": [
            17.080115113568972,
            0.4710953449880342
        ],
        "target_point_next": [
            68.09379703038245,
            -1.171614757373214
        ]
    },
    "520": {
        "acceleration": [
            0.48641204833984375,
            -0.18570303916931152,
            0.17088890075683594
        ],
        "angular_velocity": [
            0.2619516849517822,
            0.6330323219299316,
            0.5265410542488098
        ],
        "forward_vector": [
            -0.9990692734718323,
            0.013657293282449245,
            -0.04091598466038704
        ],
        "right_vector": [
            -0.013737732544541359,
            -0.999904215335846,
            0.0016854323912411928
        ],
        "location": [
            -1278.4017333984375,
            3080.526123046875,
            347.24322509765625
        ],
        "rotation": [
            -0.09664914757013321,
            -2.344967842102051,
            179.21681213378906
        ],
        "velocity": [
            -18.402507781982422,
            0.25735172629356384,
            -0.7387915849685669
        ],
        "speed": 18.40430717459774,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 111.89237213134766,
        "front_vehicle_info": {
            "id": 4045,
            "type": "vehicle.ford.mustang",
            "location": [
                -1390.0933837890625,
                3087.047119140625,
                345.7083435058594
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1042.15771484375,
                        "y": 3074.68798828125,
                        "z": 356.47760009765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6442575454711914,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4097,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1352.5565185546875,
                        "y": 3101.05859375,
                        "z": 345.7245178222656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.39032480120658875,
                        "yaw": -4.389131546020508
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4096,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1343.134765625,
                        "y": 3107.36328125,
                        "z": 345.62200927734375
                    },
                    "rotation": {
                        "roll": -1.6675831826518106e-09,
                        "pitch": 0.4717884659767151,
                        "yaw": -3.905580520629883
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4095,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1343.396484375,
                        "y": 3103.873046875,
                        "z": 345.6226806640625
                    },
                    "rotation": {
                        "roll": -1.6675831826518106e-09,
                        "pitch": 0.4717884659767151,
                        "yaw": -3.905580520629883
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4094,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.510901927947998,
                "transform": {
                    "location": {
                        "x": -1311.2786865234375,
                        "y": 3098.57177734375,
                        "z": 346.08514404296875
                    },
                    "rotation": {
                        "roll": 0.012340635992586613,
                        "pitch": 1.6646467447280884,
                        "yaw": -2.147003173828125
                    }
                },
                "velocity": {
                    "x": 7.502422332763672,
                    "y": -0.2874075770378113,
                    "z": 0.21142952144145966
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4093,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.170660972595215,
                "transform": {
                    "location": {
                        "x": -1302.5096435546875,
                        "y": 3105.2353515625,
                        "z": 346.3490295410156
                    },
                    "rotation": {
                        "roll": 0.015574492514133453,
                        "pitch": 1.9395482540130615,
                        "yaw": -1.922424554824829
                    }
                },
                "velocity": {
                    "x": 7.16268253326416,
                    "y": -0.2374018430709839,
                    "z": 0.24083779752254486
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4092,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.883387565612793,
                "transform": {
                    "location": {
                        "x": -1302.9427490234375,
                        "y": 3101.75146484375,
                        "z": 346.3475036621094
                    },
                    "rotation": {
                        "roll": 0.0052025155164301395,
                        "pitch": 2.161515712738037,
                        "yaw": -1.952178716659546
                    }
                },
                "velocity": {
                    "x": 7.874541282653809,
                    "y": -0.2664799690246582,
                    "z": 0.2615077793598175
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4091,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1082.556396484375,
                        "y": 3075.59033203125,
                        "z": 355.6627502441406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.4875195026397705,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.042232513427734,
                "transform": {
                    "location": {
                        "x": -1267.1524658203125,
                        "y": 3097.325439453125,
                        "z": 347.7117919921875
                    },
                    "rotation": {
                        "roll": 0.026439355686306953,
                        "pitch": 2.5685880184173584,
                        "yaw": -0.6989439725875854
                    }
                },
                "velocity": {
                    "x": 8.032454490661621,
                    "y": -0.1690124124288559,
                    "z": 0.35863035917282104
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.953913688659668,
                "transform": {
                    "location": {
                        "x": -1260.987548828125,
                        "y": 3104.18212890625,
                        "z": 347.9718933105469
                    },
                    "rotation": {
                        "roll": 0.00019762144074775279,
                        "pitch": 2.7016334533691406,
                        "yaw": -1.2820435762405396
                    }
                },
                "velocity": {
                    "x": 7.94343900680542,
                    "y": -0.17735496163368225,
                    "z": 0.3675091564655304
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4088,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.920974254608154,
                "transform": {
                    "location": {
                        "x": -1261.1043701171875,
                        "y": 3100.68701171875,
                        "z": 347.9701232910156
                    },
                    "rotation": {
                        "roll": 0.015083610080182552,
                        "pitch": 2.699871063232422,
                        "yaw": -0.9639586210250854
                    }
                },
                "velocity": {
                    "x": 7.91058349609375,
                    "y": -0.17160329222679138,
                    "z": 0.36749395728111267
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4087,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1132.24462890625,
                        "y": 3076.7001953125,
                        "z": 353.9884338378906
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4086,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.016965866088867,
                "transform": {
                    "location": {
                        "x": -1220.2042236328125,
                        "y": 3099.770751953125,
                        "z": 350.0218811035156
                    },
                    "rotation": {
                        "roll": -0.00024413899518549442,
                        "pitch": 3.0387306213378906,
                        "yaw": -1.2774657011032104
                    }
                },
                "velocity": {
                    "x": 8.003849029541016,
                    "y": -0.17845098674297333,
                    "z": 0.4222557842731476
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4085,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.020485877990723,
                "transform": {
                    "location": {
                        "x": -1221.7039794921875,
                        "y": 3096.302978515625,
                        "z": 349.9421081542969
                    },
                    "rotation": {
                        "roll": -0.0003967340162489563,
                        "pitch": 3.034714460372925,
                        "yaw": -1.2772216796875
                    }
                },
                "velocity": {
                    "x": 8.007373809814453,
                    "y": -0.17830978333950043,
                    "z": 0.42234206199645996
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4084,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.9912872314453125,
                "transform": {
                    "location": {
                        "x": -1219.7781982421875,
                        "y": 3103.261474609375,
                        "z": 350.0252380371094
                    },
                    "rotation": {
                        "roll": -0.0009460460860282183,
                        "pitch": 3.021934986114502,
                        "yaw": -1.280090093612671
                    }
                },
                "velocity": {
                    "x": 7.978226661682129,
                    "y": -0.17828519642353058,
                    "z": 0.4204638600349426
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4083,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.983538627624512,
                "transform": {
                    "location": {
                        "x": -1217.40625,
                        "y": 3106.709228515625,
                        "z": 350.1537170410156
                    },
                    "rotation": {
                        "roll": 0.00238790106959641,
                        "pitch": 3.1238279342651367,
                        "yaw": -1.280334234237671
                    }
                },
                "velocity": {
                    "x": 7.970071315765381,
                    "y": -0.17958848178386688,
                    "z": 0.4273213744163513
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1176.7657470703125,
                        "y": 3077.694580078125,
                        "z": 352.28900146484375
                    },
                    "rotation": {
                        "roll": -3.3385456621459753e-09,
                        "pitch": -2.621091842651367,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 16.170896530151367,
                "transform": {
                    "location": {
                        "x": -1217.7567138671875,
                        "y": 3078.610595703125,
                        "z": 350.1773376464844
                    },
                    "rotation": {
                        "roll": 0.0013078221818432212,
                        "pitch": -3.1094980239868164,
                        "yaw": 178.71934509277344
                    }
                },
                "velocity": {
                    "x": -16.14350700378418,
                    "y": 0.3620610237121582,
                    "z": -0.8683398962020874
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.389026641845703,
                "transform": {
                    "location": {
                        "x": -1251.82275390625,
                        "y": 3079.3720703125,
                        "z": 348.4411926269531
                    },
                    "rotation": {
                        "roll": 0.0010444234358146787,
                        "pitch": -2.7946810722351074,
                        "yaw": 178.71766662597656
                    }
                },
                "velocity": {
                    "x": -16.365604400634766,
                    "y": 0.367378830909729,
                    "z": -0.7951202988624573
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9995521903038025,
        "expert_target_speed": 20.0,
        "target_point": [
            12.474028621320398,
            0.4403187381401115
        ],
        "target_point_next": [
            63.48389251516229,
            -1.3169589069540102
        ]
    },
    "525": {
        "acceleration": [
            0.8599472045898438,
            -0.010228753089904785,
            0.07915139198303223
        ],
        "angular_velocity": [
            0.12481839209794998,
            -0.2005433291196823,
            -0.1880776584148407
        ],
        "forward_vector": [
            -0.9991157650947571,
            0.012809760868549347,
            -0.040043726563453674
        ],
        "right_vector": [
            -0.012850345112383366,
            -0.9999170899391174,
            0.000756263209041208
        ],
        "location": [
            -1282.9755859375,
            3080.587646484375,
            347.06396484375
        ],
        "rotation": [
            -0.043365478515625,
            -2.294950246810913,
            179.26544189453125
        ],
        "velocity": [
            -18.18775749206543,
            0.23977574706077576,
            -0.7002385258674622
        ],
        "speed": 18.189337948343823,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 107.3209457397461,
        "front_vehicle_info": {
            "id": 4045,
            "type": "vehicle.ford.mustang",
            "location": [
                -1390.0933837890625,
                3087.047119140625,
                345.7083435058594
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1046.363525390625,
                        "y": 3074.78173828125,
                        "z": 356.385498046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7753903269767761,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4097,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1350.4820556640625,
                        "y": 3100.8955078125,
                        "z": 345.6190490722656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.39032480120658875,
                        "yaw": -4.389131546020508
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4096,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.582535266876221,
                "transform": {
                    "location": {
                        "x": -1341.345458984375,
                        "y": 3107.24560546875,
                        "z": 345.63726806640625
                    },
                    "rotation": {
                        "roll": -0.01779174618422985,
                        "pitch": 0.35035452246665955,
                        "yaw": -3.6452653408050537
                    }
                },
                "velocity": {
                    "x": 6.571073532104492,
                    "y": -0.38014110922813416,
                    "z": 0.07908977568149567
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4095,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.962937831878662,
                "transform": {
                    "location": {
                        "x": -1341.6273193359375,
                        "y": 3103.75732421875,
                        "z": 345.6080322265625
                    },
                    "rotation": {
                        "roll": -0.01135253719985485,
                        "pitch": 0.42487189173698425,
                        "yaw": -3.5927133560180664
                    }
                },
                "velocity": {
                    "x": 6.9514360427856445,
                    "y": -0.3991275727748871,
                    "z": -0.027214784175157547
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4094,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.389591217041016,
                "transform": {
                    "location": {
                        "x": -1309.24462890625,
                        "y": 3098.494384765625,
                        "z": 346.1419982910156
                    },
                    "rotation": {
                        "roll": 0.006910393945872784,
                        "pitch": 1.7614442110061646,
                        "yaw": -2.187164306640625
                    }
                },
                "velocity": {
                    "x": 8.37992000579834,
                    "y": -0.32165539264678955,
                    "z": 0.24232900142669678
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4093,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.929356575012207,
                "transform": {
                    "location": {
                        "x": -1300.62890625,
                        "y": 3105.173095703125,
                        "z": 346.4121398925781
                    },
                    "rotation": {
                        "roll": 0.0022985979449003935,
                        "pitch": 1.9710968732833862,
                        "yaw": -1.921264410018921
                    }
                },
                "velocity": {
                    "x": 7.920421600341797,
                    "y": -0.26231569051742554,
                    "z": 0.26983505487442017
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4092,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.265151977539062,
                "transform": {
                    "location": {
                        "x": -1300.855224609375,
                        "y": 3101.68115234375,
                        "z": 346.4167175292969
                    },
                    "rotation": {
                        "roll": 0.0034238891676068306,
                        "pitch": 2.0870940685272217,
                        "yaw": -1.9301453828811646
                    }
                },
                "velocity": {
                    "x": 8.255779266357422,
                    "y": -0.27816370129585266,
                    "z": 0.2783314287662506
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4091,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1086.76220703125,
                        "y": 3075.6845703125,
                        "z": 355.5490417480469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.596672773361206,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.0064115524292,
                "transform": {
                    "location": {
                        "x": -1265.1414794921875,
                        "y": 3097.282958984375,
                        "z": 347.801513671875
                    },
                    "rotation": {
                        "roll": 0.02940203808248043,
                        "pitch": 2.5990302562713623,
                        "yaw": -0.6952208280563354
                    }
                },
                "velocity": {
                    "x": 7.996617794036865,
                    "y": -0.17105360329151154,
                    "z": 0.3570397198200226
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.960100173950195,
                "transform": {
                    "location": {
                        "x": -1259.001708984375,
                        "y": 3104.1376953125,
                        "z": 348.06536865234375
                    },
                    "rotation": {
                        "roll": -0.00042724653030745685,
                        "pitch": 2.7155258655548096,
                        "yaw": -1.2848204374313354
                    }
                },
                "velocity": {
                    "x": 7.949146747589111,
                    "y": -0.17798611521720886,
                    "z": 0.37760475277900696
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4088,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.969971179962158,
                "transform": {
                    "location": {
                        "x": -1259.12109375,
                        "y": 3100.644287109375,
                        "z": 348.0634765625
                    },
                    "rotation": {
                        "roll": 0.014482894912362099,
                        "pitch": 2.7162704467773438,
                        "yaw": -0.9997557401657104
                    }
                },
                "velocity": {
                    "x": 7.95911169052124,
                    "y": -0.17535822093486786,
                    "z": 0.37713539600372314
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4087,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1136.362548828125,
                        "y": 3076.791748046875,
                        "z": 353.8382873535156
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4086,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.049891471862793,
                "transform": {
                    "location": {
                        "x": -1218.19873046875,
                        "y": 3099.72607421875,
                        "z": 350.12823486328125
                    },
                    "rotation": {
                        "roll": 0.00021149015810806304,
                        "pitch": 3.0753402709960938,
                        "yaw": -1.2786864042282104
                    }
                },
                "velocity": {
                    "x": 8.036295890808105,
                    "y": -0.1795601099729538,
                    "z": 0.43180471658706665
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4085,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.019905090332031,
                "transform": {
                    "location": {
                        "x": -1219.7021484375,
                        "y": 3096.25830078125,
                        "z": 350.04754638671875
                    },
                    "rotation": {
                        "roll": -3.0521823646267876e-05,
                        "pitch": 3.0336830615997314,
                        "yaw": -1.27899169921875
                    }
                },
                "velocity": {
                    "x": 8.006867408752441,
                    "y": -0.17904220521450043,
                    "z": 0.42058098316192627
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4084,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.042604446411133,
                "transform": {
                    "location": {
                        "x": -1217.7769775390625,
                        "y": 3103.216796875,
                        "z": 350.131591796875
                    },
                    "rotation": {
                        "roll": -0.0013427742524072528,
                        "pitch": 3.0666182041168213,
                        "yaw": -1.2729490995407104
                    }
                },
                "velocity": {
                    "x": 8.028998374938965,
                    "y": -0.1783401221036911,
                    "z": 0.43227529525756836
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4083,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1215.379638671875,
                        "y": 3106.621826171875,
                        "z": 350.2642822265625
                    },
                    "rotation": {
                        "roll": 6.679862440961415e-09,
                        "pitch": 3.0971081256866455,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1180.838623046875,
                        "y": 3077.78515625,
                        "z": 352.1046447753906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.743065357208252,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 16.155698776245117,
                "transform": {
                    "location": {
                        "x": -1221.786865234375,
                        "y": 3078.700439453125,
                        "z": 349.96234130859375
                    },
                    "rotation": {
                        "roll": -0.0024414050858467817,
                        "pitch": -3.030609369277954,
                        "yaw": 178.72393798828125
                    }
                },
                "velocity": {
                    "x": -16.129425048828125,
                    "y": 0.35820066928863525,
                    "z": -0.8484971523284912
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.387996673583984,
                "transform": {
                    "location": {
                        "x": -1255.91455078125,
                        "y": 3079.463134765625,
                        "z": 348.2435607910156
                    },
                    "rotation": {
                        "roll": 0.0008546527824364603,
                        "pitch": -2.7477097511291504,
                        "yaw": 178.7227783203125
                    }
                },
                "velocity": {
                    "x": -16.365127563476562,
                    "y": 0.36635226011276245,
                    "z": -0.7840675711631775
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.99992835521698,
        "expert_target_speed": 20.0,
        "target_point": [
            7.9001324655395795,
            0.43261313537223756
        ],
        "target_point_next": [
            58.90848646073875,
            -1.3679595209428763
        ]
    },
    "530": {
        "acceleration": [
            0.615081787109375,
            0.09033739566802979,
            0.18806099891662598
        ],
        "angular_velocity": [
            0.07163263857364655,
            0.605958104133606,
            -0.35603997111320496
        ],
        "forward_vector": [
            -0.9991806745529175,
            0.014170619659125805,
            -0.037909481674432755
        ],
        "right_vector": [
            -0.014199022203683853,
            -0.9998990893363953,
            0.00048008881276473403
        ],
        "location": [
            -1287.500244140625,
            3080.64892578125,
            346.8935546875
        ],
        "rotation": [
            -0.0275268517434597,
            -2.1725738048553467,
            179.18746948242188
        ],
        "velocity": [
            -18.015731811523438,
            0.25380823016166687,
            -0.657893717288971
        ],
        "speed": 18.01751956631199,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 102.79928588867188,
        "front_vehicle_info": {
            "id": 4045,
            "type": "vehicle.ford.mustang",
            "location": [
                -1390.0933837890625,
                3087.047119140625,
                345.7083435058594
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1050.5692138671875,
                        "y": 3074.87548828125,
                        "z": 356.3229064941406
                    },
                    "rotation": {
                        "roll": -8.338676416030921e-10,
                        "pitch": -0.9065504670143127,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4097,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.298850059509277,
                "transform": {
                    "location": {
                        "x": -1348.734130859375,
                        "y": 3100.76953125,
                        "z": 345.5554504394531
                    },
                    "rotation": {
                        "roll": 0.021565763279795647,
                        "pitch": 0.5360810160636902,
                        "yaw": -4.052338600158691
                    }
                },
                "velocity": {
                    "x": 6.286162376403809,
                    "y": -0.39847856760025024,
                    "z": -0.02973851189017296
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4096,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.7622294425964355,
                "transform": {
                    "location": {
                        "x": -1339.6787109375,
                        "y": 3107.14892578125,
                        "z": 345.6537170410156
                    },
                    "rotation": {
                        "roll": -0.004241942893713713,
                        "pitch": 0.4480535686016083,
                        "yaw": -3.329590320587158
                    }
                },
                "velocity": {
                    "x": 6.751561164855957,
                    "y": -0.37457019090652466,
                    "z": 0.06214044615626335
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4095,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.8590312004089355,
                "transform": {
                    "location": {
                        "x": -1339.90283203125,
                        "y": 3103.657958984375,
                        "z": 345.6117248535156
                    },
                    "rotation": {
                        "roll": -0.0008239742601290345,
                        "pitch": 0.46304580569267273,
                        "yaw": -3.2935187816619873
                    }
                },
                "velocity": {
                    "x": 6.848341464996338,
                    "y": -0.38069289922714233,
                    "z": 0.04000603407621384
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4094,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.904249668121338,
                "transform": {
                    "location": {
                        "x": -1307.21142578125,
                        "y": 3098.41748046875,
                        "z": 346.2033996582031
                    },
                    "rotation": {
                        "roll": 0.005212875548750162,
                        "pitch": 1.7273752689361572,
                        "yaw": -2.160400152206421
                    }
                },
                "velocity": {
                    "x": 7.894816875457764,
                    "y": -0.2948154807090759,
                    "z": 0.24921803176403046
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4093,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.4945707321167,
                "transform": {
                    "location": {
                        "x": -1298.505615234375,
                        "y": 3105.102783203125,
                        "z": 346.484375
                    },
                    "rotation": {
                        "roll": -0.0002746602112893015,
                        "pitch": 1.9677841663360596,
                        "yaw": -1.8971556425094604
                    }
                },
                "velocity": {
                    "x": 8.485240936279297,
                    "y": -0.2745446562767029,
                    "z": 0.28816673159599304
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4092,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.754432201385498,
                "transform": {
                    "location": {
                        "x": -1298.8753662109375,
                        "y": 3101.615234375,
                        "z": 346.4837951660156
                    },
                    "rotation": {
                        "roll": -0.0056152381002902985,
                        "pitch": 1.90103280544281,
                        "yaw": -1.904907464981079
                    }
                },
                "velocity": {
                    "x": 7.745933532714844,
                    "y": -0.25026556849479675,
                    "z": 0.2628742754459381
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4091,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1090.96728515625,
                        "y": 3075.7783203125,
                        "z": 355.42816162109375
                    },
                    "rotation": {
                        "roll": -1.6682658587896526e-09,
                        "pitch": -1.7058396339416504,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.070425033569336,
                "transform": {
                    "location": {
                        "x": -1263.1336669921875,
                        "y": 3097.239990234375,
                        "z": 347.89178466796875
                    },
                    "rotation": {
                        "roll": 0.026056962087750435,
                        "pitch": 2.58591628074646,
                        "yaw": -0.7292479276657104
                    }
                },
                "velocity": {
                    "x": 8.060102462768555,
                    "y": -0.17400246858596802,
                    "z": 0.3691089451313019
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.9326019287109375,
                "transform": {
                    "location": {
                        "x": -1257.0184326171875,
                        "y": 3104.09326171875,
                        "z": 348.1593017578125
                    },
                    "rotation": {
                        "roll": 0.0006604641093872488,
                        "pitch": 2.707493782043457,
                        "yaw": -1.2798155546188354
                    }
                },
                "velocity": {
                    "x": 7.921757698059082,
                    "y": -0.17653854191303253,
                    "z": 0.37517860531806946
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4088,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.910572052001953,
                "transform": {
                    "location": {
                        "x": -1257.1392822265625,
                        "y": 3100.6005859375,
                        "z": 348.1572570800781
                    },
                    "rotation": {
                        "roll": 0.013684645295143127,
                        "pitch": 2.707118034362793,
                        "yaw": -0.9959411025047302
                    }
                },
                "velocity": {
                    "x": 7.899850845336914,
                    "y": -0.17444667220115662,
                    "z": 0.37293630838394165
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4087,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1140.480224609375,
                        "y": 3076.88427734375,
                        "z": 353.68817138671875
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4086,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1216.1500244140625,
                        "y": 3099.637939453125,
                        "z": 350.2363586425781
                    },
                    "rotation": {
                        "roll": 6.679862440961415e-09,
                        "pitch": 3.0971081256866455,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4085,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1217.68505859375,
                        "y": 3096.201416015625,
                        "z": 350.1551818847656
                    },
                    "rotation": {
                        "roll": 6.679862440961415e-09,
                        "pitch": 3.0971081256866455,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4084,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1215.7152099609375,
                        "y": 3103.116455078125,
                        "z": 350.24810791015625
                    },
                    "rotation": {
                        "roll": 6.679862440961415e-09,
                        "pitch": 3.0971081256866455,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4083,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1213.3018798828125,
                        "y": 3106.53076171875,
                        "z": 350.3786926269531
                    },
                    "rotation": {
                        "roll": -3.340083987168896e-09,
                        "pitch": 3.1450560092926025,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1184.91015625,
                        "y": 3077.87646484375,
                        "z": 351.9135437011719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.743065357208252,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 16.14814567565918,
                "transform": {
                    "location": {
                        "x": -1225.8134765625,
                        "y": 3078.79052734375,
                        "z": 349.75140380859375
                    },
                    "rotation": {
                        "roll": 0.0016308161430060863,
                        "pitch": -3.029878616333008,
                        "yaw": 178.72230529785156
                    }
                },
                "velocity": {
                    "x": -16.122026443481445,
                    "y": 0.3616489768028259,
                    "z": -0.8438513875007629
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.387054443359375,
                "transform": {
                    "location": {
                        "x": -1260.006103515625,
                        "y": 3079.5546875,
                        "z": 348.0499572753906
                    },
                    "rotation": {
                        "roll": 0.0006215167813934386,
                        "pitch": -2.7130398750305176,
                        "yaw": 178.71527099609375
                    }
                },
                "velocity": {
                    "x": -16.364795684814453,
                    "y": 0.366397500038147,
                    "z": -0.7711902260780334
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9995071887969971,
        "expert_target_speed": 20.0,
        "target_point": [
            54.38522133002841,
            -1.2906795758334084
        ],
        "target_point_next": [
            85.77885871537455,
            -3.4411726139956347
        ]
    },
    "535": {
        "acceleration": [
            0.8619308471679688,
            0.16032159328460693,
            0.09679913520812988
        ],
        "angular_velocity": [
            0.18692564964294434,
            0.5811152458190918,
            -0.4916651248931885
        ],
        "forward_vector": [
            -0.9992026090621948,
            0.015837477520108223,
            -0.036650191992521286
        ],
        "right_vector": [
            -0.015844037756323814,
            -0.999874472618103,
            -0.00011141994764329866
        ],
        "location": [
            -1291.984619140625,
            3080.715576171875,
            346.7338562011719
        ],
        "rotation": [
            0.006388184614479542,
            -2.100371837615967,
            179.09193420410156
        ],
        "velocity": [
            -17.84664535522461,
            0.28040313720703125,
            -0.6207304000854492
        ],
        "speed": 17.848848039986102,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 98.3182144165039,
        "front_vehicle_info": {
            "id": 4045,
            "type": "vehicle.ford.mustang",
            "location": [
                -1390.0933837890625,
                3087.047119140625,
                345.7083435058594
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1054.7303466796875,
                        "y": 3074.96826171875,
                        "z": 356.25433349609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.03775155544281,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4097,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.519922256469727,
                "transform": {
                    "location": {
                        "x": -1347.1334228515625,
                        "y": 3100.666259765625,
                        "z": 345.56549072265625
                    },
                    "rotation": {
                        "roll": 0.008496211841702461,
                        "pitch": 0.42204418778419495,
                        "yaw": -3.774567127227783
                    }
                },
                "velocity": {
                    "x": 6.506744384765625,
                    "y": -0.40981948375701904,
                    "z": 0.0609261691570282
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4096,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.853527545928955,
                "transform": {
                    "location": {
                        "x": -1338.0535888671875,
                        "y": 3107.057861328125,
                        "z": 345.6682434082031
                    },
                    "rotation": {
                        "roll": 0.006376880686730146,
                        "pitch": 0.41364988684654236,
                        "yaw": -3.2138984203338623
                    }
                },
                "velocity": {
                    "x": 5.843657493591309,
                    "y": -0.33614352345466614,
                    "z": 0.04955818131566048
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4095,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.8148908615112305,
                "transform": {
                    "location": {
                        "x": -1338.2718505859375,
                        "y": 3103.56591796875,
                        "z": 345.6237487792969
                    },
                    "rotation": {
                        "roll": 0.006474486086517572,
                        "pitch": 0.41423729062080383,
                        "yaw": -3.245789051055908
                    }
                },
                "velocity": {
                    "x": 5.80490779876709,
                    "y": -0.3375653326511383,
                    "z": 0.045362167060375214
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4094,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.001029968261719,
                "transform": {
                    "location": {
                        "x": -1305.2435302734375,
                        "y": 3098.34375,
                        "z": 346.2644958496094
                    },
                    "rotation": {
                        "roll": 0.0014088160824030638,
                        "pitch": 1.8654543161392212,
                        "yaw": -2.142425060272217
                    }
                },
                "velocity": {
                    "x": 7.991366863250732,
                    "y": -0.2991144359111786,
                    "z": 0.25509554147720337
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4093,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.046957015991211,
                "transform": {
                    "location": {
                        "x": -1296.4466552734375,
                        "y": 3105.037109375,
                        "z": 346.5547180175781
                    },
                    "rotation": {
                        "roll": 0.0003031632222700864,
                        "pitch": 1.939404845237732,
                        "yaw": -1.802551031112671
                    }
                },
                "velocity": {
                    "x": 8.038382530212402,
                    "y": -0.2487676441669464,
                    "z": 0.27577513456344604
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4092,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.175907135009766,
                "transform": {
                    "location": {
                        "x": -1296.8873291015625,
                        "y": 3101.552490234375,
                        "z": 346.55126953125
                    },
                    "rotation": {
                        "roll": -0.0054321326315402985,
                        "pitch": 2.0122761726379395,
                        "yaw": -1.8040770292282104
                    }
                },
                "velocity": {
                    "x": 8.167214393615723,
                    "y": -0.25346848368644714,
                    "z": 0.27895304560661316
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4091,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1095.12744140625,
                        "y": 3075.87109375,
                        "z": 355.30218505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.8150339126586914,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.986728191375732,
                "transform": {
                    "location": {
                        "x": -1261.133056640625,
                        "y": 3097.196533203125,
                        "z": 347.9835510253906
                    },
                    "rotation": {
                        "roll": 0.025702189654111862,
                        "pitch": 2.707855701446533,
                        "yaw": -0.7182007431983948
                    }
                },
                "velocity": {
                    "x": 7.976224899291992,
                    "y": -0.1732027530670166,
                    "z": 0.3710372745990753
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.971526145935059,
                "transform": {
                    "location": {
                        "x": -1255.0323486328125,
                        "y": 3104.04931640625,
                        "z": 348.2537841796875
                    },
                    "rotation": {
                        "roll": 0.0008626700146123767,
                        "pitch": 2.7345070838928223,
                        "yaw": -1.2794188261032104
                    }
                },
                "velocity": {
                    "x": 7.960323333740234,
                    "y": -0.1787474900484085,
                    "z": 0.38279396295547485
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4088,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.98317813873291,
                "transform": {
                    "location": {
                        "x": -1255.154541015625,
                        "y": 3100.556884765625,
                        "z": 348.2515869140625
                    },
                    "rotation": {
                        "roll": 0.012296355329453945,
                        "pitch": 2.7331137657165527,
                        "yaw": -1.013763427734375
                    }
                },
                "velocity": {
                    "x": 7.971960067749023,
                    "y": -0.1776271015405655,
                    "z": 0.3839713931083679
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4087,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1144.5966796875,
                        "y": 3076.975830078125,
                        "z": 353.53802490234375
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4086,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1214.072509765625,
                        "y": 3099.536865234375,
                        "z": 350.3458251953125
                    },
                    "rotation": {
                        "roll": 6.679862440961415e-09,
                        "pitch": 3.0971081256866455,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4085,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1215.607177734375,
                        "y": 3096.09765625,
                        "z": 350.26708984375
                    },
                    "rotation": {
                        "roll": 6.679862440961415e-09,
                        "pitch": 3.0971081256866455,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1188.9820556640625,
                        "y": 3077.967529296875,
                        "z": 351.71490478515625
                    },
                    "rotation": {
                        "roll": -3.33922711703849e-09,
                        "pitch": -2.8651139736175537,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 16.1081600189209,
                "transform": {
                    "location": {
                        "x": -1229.83984375,
                        "y": 3078.880615234375,
                        "z": 349.541748046875
                    },
                    "rotation": {
                        "roll": 0.002451342297717929,
                        "pitch": -2.9777779579162598,
                        "yaw": 178.709228515625
                    }
                },
                "velocity": {
                    "x": -16.082759857177734,
                    "y": 0.3613041937351227,
                    "z": -0.8289258480072021
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.384611129760742,
                "transform": {
                    "location": {
                        "x": -1264.0982666015625,
                        "y": 3079.646240234375,
                        "z": 347.85986328125
                    },
                    "rotation": {
                        "roll": 0.00020722340559586883,
                        "pitch": -2.579557418823242,
                        "yaw": 178.72113037109375
                    }
                },
                "velocity": {
                    "x": -16.36335563659668,
                    "y": 0.36666980385780334,
                    "z": -0.749409019947052
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9997768402099609,
        "expert_target_speed": 20.0,
        "target_point": [
            49.9024298317139,
            -1.2044166727451258
        ],
        "target_point_next": [
            81.29960951570172,
            -3.3025578694168747
        ]
    },
    "540": {
        "acceleration": [
            1.096038818359375,
            0.5026394128799438,
            0.1178884506225586
        ],
        "angular_velocity": [
            0.3890027403831482,
            0.1788288801908493,
            -2.386098623275757
        ],
        "forward_vector": [
            -0.9990772604942322,
            0.023777810856699944,
            -0.03576552867889404
        ],
        "right_vector": [
            -0.023720165714621544,
            -0.9997165203094482,
            -0.0020352674182504416
        ],
        "location": [
            -1296.41259765625,
            3080.80029296875,
            346.5830078125
        ],
        "rotation": [
            0.11668696999549866,
            -2.0496509075164795,
            178.63662719726562
        ],
        "velocity": [
            -17.578956604003906,
            0.4067888855934143,
            -0.5862833857536316
        ],
        "speed": 17.5836626583569,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 93.89289855957031,
        "front_vehicle_info": {
            "id": 4045,
            "type": "vehicle.ford.mustang",
            "location": [
                -1390.0933837890625,
                3087.047119140625,
                345.7083435058594
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4100,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1377.79931640625,
                        "y": 3110.37890625,
                        "z": 345.76898193359375
                    },
                    "rotation": {
                        "roll": 3.335208109689347e-09,
                        "pitch": -0.5523710250854492,
                        "yaw": -5.839816570281982
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4099,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1378.1534423828125,
                        "y": 3106.896728515625,
                        "z": 345.7694396972656
                    },
                    "rotation": {
                        "roll": 3.335208109689347e-09,
                        "pitch": -0.5523710250854492,
                        "yaw": -5.839816570281982
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1058.8914794921875,
                        "y": 3075.061767578125,
                        "z": 356.17962646484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0719298124313354,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4097,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.24487829208374,
                "transform": {
                    "location": {
                        "x": -1345.5423583984375,
                        "y": 3100.565185546875,
                        "z": 345.5794372558594
                    },
                    "rotation": {
                        "roll": 0.006350552663207054,
                        "pitch": 0.45784804224967957,
                        "yaw": -3.6586315631866455
                    }
                },
                "velocity": {
                    "x": 6.232451438903809,
                    "y": -0.39037829637527466,
                    "z": 0.05154942348599434
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4096,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.246741771697998,
                "transform": {
                    "location": {
                        "x": -1336.701171875,
                        "y": 3106.97998046875,
                        "z": 345.6798400878906
                    },
                    "rotation": {
                        "roll": 0.006787470076233149,
                        "pitch": 0.40355488657951355,
                        "yaw": -3.2893989086151123
                    }
                },
                "velocity": {
                    "x": 5.237636566162109,
                    "y": -0.30539315938949585,
                    "z": 0.046895768493413925
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4095,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.753812313079834,
                "transform": {
                    "location": {
                        "x": -1336.8587646484375,
                        "y": 3103.48388671875,
                        "z": 345.6348876953125
                    },
                    "rotation": {
                        "roll": 0.0043446654453873634,
                        "pitch": 0.4513661861419678,
                        "yaw": -3.3107306957244873
                    }
                },
                "velocity": {
                    "x": 5.743783473968506,
                    "y": -0.33606308698654175,
                    "z": 0.04869821295142174
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4094,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.120172500610352,
                "transform": {
                    "location": {
                        "x": -1303.215087890625,
                        "y": 3098.26904296875,
                        "z": 346.33062744140625
                    },
                    "rotation": {
                        "roll": 0.00016529428830835968,
                        "pitch": 1.8813072443008423,
                        "yaw": -2.103546380996704
                    }
                },
                "velocity": {
                    "x": 8.110608100891113,
                    "y": -0.28620532155036926,
                    "z": 0.2707614302635193
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4093,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.888677597045898,
                "transform": {
                    "location": {
                        "x": -1294.463623046875,
                        "y": 3104.975830078125,
                        "z": 346.622802734375
                    },
                    "rotation": {
                        "roll": 0.01052913349121809,
                        "pitch": 1.9785622358322144,
                        "yaw": -1.7215577363967896
                    }
                },
                "velocity": {
                    "x": 7.880404472351074,
                    "y": -0.23665711283683777,
                    "z": 0.27286115288734436
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4092,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.009865760803223,
                "transform": {
                    "location": {
                        "x": -1294.85546875,
                        "y": 3101.490234375,
                        "z": 346.62103271484375
                    },
                    "rotation": {
                        "roll": -0.0039062488358467817,
                        "pitch": 1.9914029836654663,
                        "yaw": -1.7570801973342896
                    }
                },
                "velocity": {
                    "x": 8.001426696777344,
                    "y": -0.24419444799423218,
                    "z": 0.27474454045295715
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4091,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1099.287353515625,
                        "y": 3075.963623046875,
                        "z": 355.1698303222656
                    },
                    "rotation": {
                        "roll": 3.336934728537244e-09,
                        "pitch": -1.9241529703140259,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.09272575378418,
                "transform": {
                    "location": {
                        "x": -1259.1241455078125,
                        "y": 3097.15234375,
                        "z": 348.0776062011719
                    },
                    "rotation": {
                        "roll": 0.027775108814239502,
                        "pitch": 2.7647852897644043,
                        "yaw": -0.75390625
                    }
                },
                "velocity": {
                    "x": 8.081570625305176,
                    "y": -0.18227961659431458,
                    "z": 0.3836689591407776
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.937528133392334,
                "transform": {
                    "location": {
                        "x": -1253.0462646484375,
                        "y": 3104.004638671875,
                        "z": 348.3489685058594
                    },
                    "rotation": {
                        "roll": -0.00039672848652116954,
                        "pitch": 2.7916483879089355,
                        "yaw": -1.280334234237671
                    }
                },
                "velocity": {
                    "x": 7.926283359527588,
                    "y": -0.17677517235279083,
                    "z": 0.3835793137550354
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4088,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.91152811050415,
                "transform": {
                    "location": {
                        "x": -1253.170166015625,
                        "y": 3100.512451171875,
                        "z": 348.3468017578125
                    },
                    "rotation": {
                        "roll": 0.012846134603023529,
                        "pitch": 2.7905008792877197,
                        "yaw": -1.00653076171875
                    }
                },
                "velocity": {
                    "x": 7.9003448486328125,
                    "y": -0.17561492323875427,
                    "z": 0.3820815980434418
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4087,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1148.63232421875,
                        "y": 3077.066162109375,
                        "z": 353.3908386230469
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1193.059814453125,
                        "y": 3078.05859375,
                        "z": 351.50897216796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.987053394317627,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 16.20240592956543,
                "transform": {
                    "location": {
                        "x": -1233.8817138671875,
                        "y": 3078.971435546875,
                        "z": 349.3351745605469
                    },
                    "rotation": {
                        "roll": 0.0004123659455217421,
                        "pitch": -2.905876398086548,
                        "yaw": 178.71395874023438
                    }
                },
                "velocity": {
                    "x": -16.177583694458008,
                    "y": 0.36189982295036316,
                    "z": -0.8202300071716309
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.383047103881836,
                "transform": {
                    "location": {
                        "x": -1268.1893310546875,
                        "y": 3079.737060546875,
                        "z": 347.67803955078125
                    },
                    "rotation": {
                        "roll": 1.2752536349580623e-05,
                        "pitch": -2.5505974292755127,
                        "yaw": 178.7278289794922
                    }
                },
                "velocity": {
                    "x": -16.363086700439453,
                    "y": 0.36380988359451294,
                    "z": -0.7219991087913513
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9998599886894226,
        "expert_target_speed": 20.0,
        "target_point": [
            45.48168438522647,
            -0.8284951024166829
        ],
        "target_point_next": [
            76.89454544509624,
            -2.677075266517015
        ]
    },
    "545": {
        "acceleration": [
            0.46360015869140625,
            0.6716763973236084,
            0.017696619033813477
        ],
        "angular_velocity": [
            0.28085312247276306,
            0.10121535509824753,
            -2.236553907394409
        ],
        "forward_vector": [
            -0.9988114237785339,
            0.03379346802830696,
            -0.03512577712535858
        ],
        "right_vector": [
            -0.03369765728712082,
            -0.9994266033172607,
            -0.003316161222755909
        ],
        "location": [
            -1300.7784423828125,
            3080.920654296875,
            346.4383544921875
        ],
        "rotation": [
            0.1901196986436844,
            -2.012972831726074,
            178.0622100830078
        ],
        "velocity": [
            -17.384130477905273,
            0.5654978156089783,
            -0.573002278804779
        ],
        "speed": 17.393325738693378,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 89.52778625488281,
        "front_vehicle_info": {
            "id": 4045,
            "type": "vehicle.ford.mustang",
            "location": [
                -1390.0933837890625,
                3087.047119140625,
                345.7083435058594
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4100,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1375.728271484375,
                        "y": 3110.171875,
                        "z": 345.66998291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39526301622390747,
                        "yaw": -5.598025798797607
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4099,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1376.082275390625,
                        "y": 3106.689697265625,
                        "z": 345.67059326171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39526301622390747,
                        "yaw": -5.598025798797607
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1063.060791015625,
                        "y": 3075.154541015625,
                        "z": 356.10113525390625
                    },
                    "rotation": {
                        "roll": 1.6678640690770408e-09,
                        "pitch": -1.1525875329971313,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4097,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.97442626953125,
                "transform": {
                    "location": {
                        "x": -1343.9873046875,
                        "y": 3100.467529296875,
                        "z": 345.5916442871094
                    },
                    "rotation": {
                        "roll": 0.005071163643151522,
                        "pitch": 0.5158022046089172,
                        "yaw": -3.6100776195526123
                    }
                },
                "velocity": {
                    "x": 5.962595462799072,
                    "y": -0.3724798560142517,
                    "z": 0.04983452707529068
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4096,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.388203144073486,
                "transform": {
                    "location": {
                        "x": -1335.35595703125,
                        "y": 3106.90087890625,
                        "z": 345.69146728515625
                    },
                    "rotation": {
                        "roll": 0.005274084862321615,
                        "pitch": 0.5332943201065063,
                        "yaw": -3.271942615509033
                    }
                },
                "velocity": {
                    "x": 5.378746032714844,
                    "y": -0.3150152266025543,
                    "z": 0.050877951085567474
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4095,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.790230751037598,
                "transform": {
                    "location": {
                        "x": -1335.3585205078125,
                        "y": 3103.395751953125,
                        "z": 345.6480712890625
                    },
                    "rotation": {
                        "roll": 0.004885591566562653,
                        "pitch": 0.57243812084198,
                        "yaw": -3.2784736156463623
                    }
                },
                "velocity": {
                    "x": 6.778259754180908,
                    "y": -0.3977825939655304,
                    "z": 0.0648096427321434
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4094,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.93385648727417,
                "transform": {
                    "location": {
                        "x": -1301.217529296875,
                        "y": 3098.19873046875,
                        "z": 346.3970642089844
                    },
                    "rotation": {
                        "roll": -0.0019226062577217817,
                        "pitch": 1.9371440410614014,
                        "yaw": -2.009002685546875
                    }
                },
                "velocity": {
                    "x": 7.924644470214844,
                    "y": -0.27457162737846375,
                    "z": 0.265891432762146
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4093,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.918015003204346,
                "transform": {
                    "location": {
                        "x": -1292.492431640625,
                        "y": 3104.91796875,
                        "z": 346.691162109375
                    },
                    "rotation": {
                        "roll": 0.0039469520561397076,
                        "pitch": 2.00700306892395,
                        "yaw": -1.626434564590454
                    }
                },
                "velocity": {
                    "x": 7.910076141357422,
                    "y": -0.21945245563983917,
                    "z": 0.2783884108066559
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4092,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.966959476470947,
                "transform": {
                    "location": {
                        "x": -1292.87255859375,
                        "y": 3101.431396484375,
                        "z": 346.68988037109375
                    },
                    "rotation": {
                        "roll": -0.01153564453125,
                        "pitch": 2.0035743713378906,
                        "yaw": -1.6753844022750854
                    }
                },
                "velocity": {
                    "x": 7.958972454071045,
                    "y": -0.2246912717819214,
                    "z": 0.27696964144706726
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4091,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1103.4168701171875,
                        "y": 3076.05615234375,
                        "z": 355.0322265625
                    },
                    "rotation": {
                        "roll": -1.6685771653257575e-09,
                        "pitch": -2.0333540439605713,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.946462154388428,
                "transform": {
                    "location": {
                        "x": -1257.1217041015625,
                        "y": 3097.108154296875,
                        "z": 348.1730041503906
                    },
                    "rotation": {
                        "roll": 0.023480655625462532,
                        "pitch": 2.725532293319702,
                        "yaw": -0.7452392578125
                    }
                },
                "velocity": {
                    "x": 7.935661315917969,
                    "y": -0.17448066174983978,
                    "z": 0.37562742829322815
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.96695613861084,
                "transform": {
                    "location": {
                        "x": -1251.0609130859375,
                        "y": 3103.96044921875,
                        "z": 348.4455871582031
                    },
                    "rotation": {
                        "roll": -0.00018311128951609135,
                        "pitch": 2.789510488510132,
                        "yaw": -1.2750853300094604
                    }
                },
                "velocity": {
                    "x": 7.955586910247803,
                    "y": -0.17720039188861847,
                    "z": 0.3868177831172943
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4088,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.978029251098633,
                "transform": {
                    "location": {
                        "x": -1251.1865234375,
                        "y": 3100.46826171875,
                        "z": 348.4432678222656
                    },
                    "rotation": {
                        "roll": 0.012810677289962769,
                        "pitch": 2.789517402648926,
                        "yaw": -1.01544189453125
                    }
                },
                "velocity": {
                    "x": 7.966612815856934,
                    "y": -0.1773473471403122,
                    "z": 0.38804152607917786
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4087,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1152.72265625,
                        "y": 3077.15771484375,
                        "z": 353.2416687011719
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1197.1112060546875,
                        "y": 3078.1494140625,
                        "z": 351.2972106933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.109067678451538,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 16.244029998779297,
                "transform": {
                    "location": {
                        "x": -1237.9349365234375,
                        "y": 3079.06201171875,
                        "z": 349.1299133300781
                    },
                    "rotation": {
                        "roll": -0.0007629414321854711,
                        "pitch": -2.907071828842163,
                        "yaw": 178.723876953125
                    }
                },
                "velocity": {
                    "x": -16.21952247619629,
                    "y": 0.36212629079818726,
                    "z": -0.8151366710662842
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.380245208740234,
                "transform": {
                    "location": {
                        "x": -1272.28125,
                        "y": 3079.828369140625,
                        "z": 347.5007629394531
                    },
                    "rotation": {
                        "roll": 0.0007529840804636478,
                        "pitch": -2.3920278549194336,
                        "yaw": 178.71234130859375
                    }
                },
                "velocity": {
                    "x": -16.361465454101562,
                    "y": 0.36648014187812805,
                    "z": -0.6932247281074524
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9999849200248718,
        "expert_target_speed": 20.0,
        "target_point": [
            41.12028666467839,
            -0.3998193390744109
        ],
        "target_point_next": [
            72.55010170612108,
            -1.933382200678289
        ]
    },
    "550": {
        "acceleration": [
            0.00293731689453125,
            0.6488728523254395,
            0.0368344783782959
        ],
        "angular_velocity": [
            0.17371231317520142,
            0.743550181388855,
            -2.071855068206787
        ],
        "forward_vector": [
            -0.9985089898109436,
            0.043180495500564575,
            -0.03339515998959541
        ],
        "right_vector": [
            -0.043058570474386215,
            -0.9990630149841309,
            -0.004361896310001612
        ],
        "location": [
            -1305.119140625,
            3081.081787109375,
            346.2960205078125
        ],
        "rotation": [
            0.25005853176116943,
            -1.9137574434280396,
            177.52378845214844
        ],
        "velocity": [
            -17.351594924926758,
            0.7287200093269348,
            -0.560189425945282
        ],
        "speed": 17.366890317231164,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 85.1854019165039,
        "front_vehicle_info": {
            "id": 4045,
            "type": "vehicle.ford.mustang",
            "location": [
                -1390.0933837890625,
                3087.047119140625,
                345.7083435058594
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4101,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1382.66259765625,
                        "y": 3103.846923828125,
                        "z": 345.7220153808594
                    },
                    "rotation": {
                        "roll": 3.335208109689347e-09,
                        "pitch": -0.5523710250854492,
                        "yaw": -5.839816570281982
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4100,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1373.6571044921875,
                        "y": 3109.96484375,
                        "z": 345.5711975097656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39526301622390747,
                        "yaw": -5.598025798797607
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4099,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1374.01123046875,
                        "y": 3106.482666015625,
                        "z": 345.57177734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39526301622390747,
                        "yaw": -5.598025798797607
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1067.194091796875,
                        "y": 3075.2470703125,
                        "z": 356.02069091796875
                    },
                    "rotation": {
                        "roll": 1.6678640690770408e-09,
                        "pitch": -1.1525875329971313,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4097,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.998449325561523,
                "transform": {
                    "location": {
                        "x": -1342.517822265625,
                        "y": 3100.373779296875,
                        "z": 345.604248046875
                    },
                    "rotation": {
                        "roll": 0.0020133357029408216,
                        "pitch": 0.4747186005115509,
                        "yaw": -3.6445329189300537
                    }
                },
                "velocity": {
                    "x": 5.985893249511719,
                    "y": -0.3848004937171936,
                    "z": 0.04907236993312836
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4096,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.889817237854004,
                "transform": {
                    "location": {
                        "x": -1333.6849365234375,
                        "y": 3106.8037109375,
                        "z": 345.70526123046875
                    },
                    "rotation": {
                        "roll": 0.0037225179839879274,
                        "pitch": 0.7784776091575623,
                        "yaw": -3.303589105606079
                    }
                },
                "velocity": {
                    "x": 7.876035213470459,
                    "y": -0.4598156213760376,
                    "z": 0.07652757316827774
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4095,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.381369590759277,
                "transform": {
                    "location": {
                        "x": -1333.3868408203125,
                        "y": 3103.28076171875,
                        "z": 345.66632080078125
                    },
                    "rotation": {
                        "roll": 0.003636847482994199,
                        "pitch": 0.6750138998031616,
                        "yaw": -3.3341681957244873
                    }
                },
                "velocity": {
                    "x": 8.366748809814453,
                    "y": -0.48778969049453735,
                    "z": 0.0832570418715477
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4094,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.093536376953125,
                "transform": {
                    "location": {
                        "x": -1299.21484375,
                        "y": 3098.12890625,
                        "z": 346.464599609375
                    },
                    "rotation": {
                        "roll": -0.0011901883408427238,
                        "pitch": 1.943858027458191,
                        "yaw": -1.9841004610061646
                    }
                },
                "velocity": {
                    "x": 8.084057807922363,
                    "y": -0.28022143244743347,
                    "z": 0.27352872490882874
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4093,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.012920379638672,
                "transform": {
                    "location": {
                        "x": -1290.5,
                        "y": 3104.86328125,
                        "z": 346.7620544433594
                    },
                    "rotation": {
                        "roll": 0.007366224192082882,
                        "pitch": 2.0667126178741455,
                        "yaw": -1.523406982421875
                    }
                },
                "velocity": {
                    "x": 8.004792213439941,
                    "y": -0.21220624446868896,
                    "z": 0.29182446002960205
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4092,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.084516525268555,
                "transform": {
                    "location": {
                        "x": -1290.860595703125,
                        "y": 3101.376220703125,
                        "z": 346.76068115234375
                    },
                    "rotation": {
                        "roll": -0.008148190565407276,
                        "pitch": 2.062607765197754,
                        "yaw": -1.572997808456421
                    }
                },
                "velocity": {
                    "x": 8.076370239257812,
                    "y": -0.2185816913843155,
                    "z": 0.2896204888820648
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4091,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1107.5875244140625,
                        "y": 3076.149658203125,
                        "z": 354.8868713378906
                    },
                    "rotation": {
                        "roll": -1.6685771653257575e-09,
                        "pitch": -2.0333540439605713,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.09514331817627,
                "transform": {
                    "location": {
                        "x": -1255.116943359375,
                        "y": 3097.063720703125,
                        "z": 348.2682800292969
                    },
                    "rotation": {
                        "roll": 0.027389608323574066,
                        "pitch": 2.752033233642578,
                        "yaw": -0.7552491426467896
                    }
                },
                "velocity": {
                    "x": 8.083794593811035,
                    "y": -0.1811404824256897,
                    "z": 0.3883328139781952
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.935619354248047,
                "transform": {
                    "location": {
                        "x": -1249.0760498046875,
                        "y": 3103.916259765625,
                        "z": 348.5421447753906
                    },
                    "rotation": {
                        "roll": 0.000521348265465349,
                        "pitch": 2.786423444747925,
                        "yaw": -1.276092529296875
                    }
                },
                "velocity": {
                    "x": 7.924282550811768,
                    "y": -0.17666137218475342,
                    "z": 0.3854786455631256
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4088,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.911223888397217,
                "transform": {
                    "location": {
                        "x": -1249.20361328125,
                        "y": 3100.424072265625,
                        "z": 348.5397644042969
                    },
                    "rotation": {
                        "roll": 0.013057089410722256,
                        "pitch": 2.785883665084839,
                        "yaw": -1.006805419921875
                    }
                },
                "velocity": {
                    "x": 7.899895668029785,
                    "y": -0.17750169336795807,
                    "z": 0.38419464230537415
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4087,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1156.8104248046875,
                        "y": 3077.248291015625,
                        "z": 353.0924072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.133115768432617,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1201.1912841796875,
                        "y": 3078.240478515625,
                        "z": 351.07763671875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.154447555541992,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 16.174726486206055,
                "transform": {
                    "location": {
                        "x": -1241.9766845703125,
                        "y": 3079.152099609375,
                        "z": 348.9285888671875
                    },
                    "rotation": {
                        "roll": -0.00021362100960686803,
                        "pitch": -2.8505520820617676,
                        "yaw": 178.72474670410156
                    }
                },
                "velocity": {
                    "x": -16.15119743347168,
                    "y": 0.3599540889263153,
                    "z": -0.7943663001060486
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.37921905517578,
                "transform": {
                    "location": {
                        "x": -1276.37158203125,
                        "y": 3079.920166015625,
                        "z": 347.3310546875
                    },
                    "rotation": {
                        "roll": -0.00018310385348740965,
                        "pitch": -2.3917202949523926,
                        "yaw": 178.71592712402344
                    }
                },
                "velocity": {
                    "x": -16.361087799072266,
                    "y": 0.36596792936325073,
                    "z": -0.6780210733413696
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 1.0011274814605713,
        "expert_target_speed": 20.0,
        "target_point": [
            36.77862140624666,
            -0.03995282707697312
        ],
        "target_point_next": [
            68.22145948996602,
            -1.2781054149251658
        ]
    },
    "555": {
        "acceleration": [
            -0.03131866455078125,
            0.6440651416778564,
            0.16277432441711426
        ],
        "angular_velocity": [
            -0.055970560759305954,
            1.047594428062439,
            -2.0521609783172607
        ],
        "forward_vector": [
            -0.998199999332428,
            0.052166298031806946,
            -0.02958771586418152
        ],
        "right_vector": [
            -0.05205009877681732,
            -0.9986334443092346,
            -0.004684390965849161
        ],
        "location": [
            -1309.4600830078125,
            3081.282958984375,
            346.1615295410156
        ],
        "rotation": [
            0.26851436495780945,
            -1.6954987049102783,
            177.0084228515625
        ],
        "velocity": [
            -17.359071731567383,
            0.8890570402145386,
            -0.5098094344139099
        ],
        "speed": 17.381823661585596,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 80.84033966064453,
        "front_vehicle_info": {
            "id": 4045,
            "type": "vehicle.ford.mustang",
            "location": [
                -1390.0933837890625,
                3087.047119140625,
                345.7083435058594
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4101,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1380.591552734375,
                        "y": 3103.631103515625,
                        "z": 345.65087890625
                    },
                    "rotation": {
                        "roll": 3.335208109689347e-09,
                        "pitch": -0.5523710250854492,
                        "yaw": -5.839816570281982
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4100,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.959935188293457,
                "transform": {
                    "location": {
                        "x": -1371.625732421875,
                        "y": 3109.767333984375,
                        "z": 345.54095458984375
                    },
                    "rotation": {
                        "roll": -0.0033569333609193563,
                        "pitch": -0.3884943127632141,
                        "yaw": -5.349399089813232
                    }
                },
                "velocity": {
                    "x": 6.928597450256348,
                    "y": -0.6580113172531128,
                    "z": -0.04747214540839195
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4099,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.646451473236084,
                "transform": {
                    "location": {
                        "x": -1372.057373046875,
                        "y": 3106.292236328125,
                        "z": 345.54034423828125
                    },
                    "rotation": {
                        "roll": -0.0025024425704032183,
                        "pitch": -0.286833792924881,
                        "yaw": -5.339632511138916
                    }
                },
                "velocity": {
                    "x": 6.616919994354248,
                    "y": -0.6219422221183777,
                    "z": -0.06985504180192947
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1071.3585205078125,
                        "y": 3075.33984375,
                        "z": 355.9322204589844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.2692198753356934,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4097,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.040737152099609,
                "transform": {
                    "location": {
                        "x": -1340.8912353515625,
                        "y": 3100.269287109375,
                        "z": 345.6183776855469
                    },
                    "rotation": {
                        "roll": 0.003614583518356085,
                        "pitch": 0.38954615592956543,
                        "yaw": -3.6621406078338623
                    }
                },
                "velocity": {
                    "x": 7.026093006134033,
                    "y": -0.4500928819179535,
                    "z": 0.05843663960695267
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4096,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.281618118286133,
                "transform": {
                    "location": {
                        "x": -1331.62744140625,
                        "y": 3106.68408203125,
                        "z": 345.728271484375
                    },
                    "rotation": {
                        "roll": 0.001707211951725185,
                        "pitch": 0.7291909456253052,
                        "yaw": -3.3254401683807373
                    }
                },
                "velocity": {
                    "x": 8.26705551147461,
                    "y": -0.4803147315979004,
                    "z": 0.10141568630933762
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4095,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.005904197692871,
                "transform": {
                    "location": {
                        "x": -1331.3328857421875,
                        "y": 3103.1611328125,
                        "z": 345.68975830078125
                    },
                    "rotation": {
                        "roll": 0.0018795592477545142,
                        "pitch": 0.6696522235870361,
                        "yaw": -3.334595203399658
                    }
                },
                "velocity": {
                    "x": 7.991732120513916,
                    "y": -0.46546486020088196,
                    "z": 0.10028331726789474
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4094,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.993321418762207,
                "transform": {
                    "location": {
                        "x": -1297.204833984375,
                        "y": 3098.063720703125,
                        "z": 346.5326232910156
                    },
                    "rotation": {
                        "roll": -0.0032958989031612873,
                        "pitch": 1.9355661869049072,
                        "yaw": -1.844512939453125
                    }
                },
                "velocity": {
                    "x": 7.984905242919922,
                    "y": -0.2488279789686203,
                    "z": 0.2693648934364319
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4093,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.960775852203369,
                "transform": {
                    "location": {
                        "x": -1288.5042724609375,
                        "y": 3104.810546875,
                        "z": 346.8343811035156
                    },
                    "rotation": {
                        "roll": -0.004241940565407276,
                        "pitch": 2.128443956375122,
                        "yaw": -1.4660643339157104
                    }
                },
                "velocity": {
                    "x": 7.9528489112854,
                    "y": -0.20246227085590363,
                    "z": 0.2918086051940918
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4092,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.987855911254883,
                "transform": {
                    "location": {
                        "x": -1288.854248046875,
                        "y": 3101.322509765625,
                        "z": 346.8326110839844
                    },
                    "rotation": {
                        "roll": -0.011474614031612873,
                        "pitch": 2.116286277770996,
                        "yaw": -1.52374267578125
                    }
                },
                "velocity": {
                    "x": 7.97999906539917,
                    "y": -0.2060902863740921,
                    "z": 0.2880712151527405
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4091,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1111.7069091796875,
                        "y": 3076.241455078125,
                        "z": 354.7373046875
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.982315540313721,
                "transform": {
                    "location": {
                        "x": -1253.112060546875,
                        "y": 3097.01904296875,
                        "z": 348.36444091796875
                    },
                    "rotation": {
                        "roll": 0.024106465280056,
                        "pitch": 2.8142905235290527,
                        "yaw": -0.75018310546875
                    }
                },
                "velocity": {
                    "x": 7.971100807189941,
                    "y": -0.17515142261981964,
                    "z": 0.3850099742412567
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.967313289642334,
                "transform": {
                    "location": {
                        "x": -1247.0906982421875,
                        "y": 3103.871826171875,
                        "z": 348.63909912109375
                    },
                    "rotation": {
                        "roll": -0.0003662107337731868,
                        "pitch": 2.8050971031188965,
                        "yaw": -1.2803343534469604
                    }
                },
                "velocity": {
                    "x": 7.955714702606201,
                    "y": -0.17865340411663055,
                    "z": 0.39085355401039124
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4088,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.978728771209717,
                "transform": {
                    "location": {
                        "x": -1247.2197265625,
                        "y": 3100.3798828125,
                        "z": 348.6365966796875
                    },
                    "rotation": {
                        "roll": 0.012309419922530651,
                        "pitch": 2.804291009902954,
                        "yaw": -1.0181578397750854
                    }
                },
                "velocity": {
                    "x": 7.967146396636963,
                    "y": -0.17739565670490265,
                    "z": 0.39143773913383484
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4087,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1160.8841552734375,
                        "y": 3077.33984375,
                        "z": 352.94140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.255096197128296,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1205.259033203125,
                        "y": 3078.33154296875,
                        "z": 350.85400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.154447555541992,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 16.119325637817383,
                "transform": {
                    "location": {
                        "x": -1246.0013427734375,
                        "y": 3079.24169921875,
                        "z": 348.7310485839844
                    },
                    "rotation": {
                        "roll": 0.0008123626466840506,
                        "pitch": -2.8587071895599365,
                        "yaw": 178.71971130371094
                    }
                },
                "velocity": {
                    "x": -16.095863342285156,
                    "y": 0.35942912101745605,
                    "z": -0.7916077971458435
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.376291275024414,
                "transform": {
                    "location": {
                        "x": -1280.462890625,
                        "y": 3080.011474609375,
                        "z": 347.1659240722656
                    },
                    "rotation": {
                        "roll": 0.012770015746355057,
                        "pitch": -2.2346737384796143,
                        "yaw": 178.7255096435547
                    }
                },
                "velocity": {
                    "x": -16.359716415405273,
                    "y": 0.36396002769470215,
                    "z": -0.6404215097427368
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 1.0015870332717896,
        "expert_target_speed": 20.0,
        "target_point": [
            32.43196727427211,
            0.2652184476580659
        ],
        "target_point_next": [
            63.88467043214473,
            -0.6900577702691422
        ]
    },
    "560": {
        "acceleration": [
            -0.03734588623046875,
            0.4282796382904053,
            0.1569455862045288
        ],
        "angular_velocity": [
            -0.22121328115463257,
            0.8129000067710876,
            -1.1855790615081787
        ],
        "forward_vector": [
            -0.9979457855224609,
            0.05870289355516434,
            -0.025656146928668022
        ],
        "right_vector": [
            -0.05862395465373993,
            -0.9982728958129883,
            -0.003818896133452654
        ],
        "location": [
            -1313.80322265625,
            3081.519287109375,
            346.0422668457031
        ],
        "rotation": [
            0.21887922286987305,
            -1.470150351524353,
            176.63352966308594
        ],
        "velocity": [
            -17.367746353149414,
            1.005523443222046,
            -0.4480780065059662
        ],
        "speed": 17.396829906112316,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 76.49089813232422,
        "front_vehicle_info": {
            "id": 4045,
            "type": "vehicle.ford.mustang",
            "location": [
                -1390.0933837890625,
                3087.047119140625,
                345.7083435058594
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4101,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.057494163513184,
                "transform": {
                    "location": {
                        "x": -1378.5328369140625,
                        "y": 3103.41796875,
                        "z": 345.5822448730469
                    },
                    "rotation": {
                        "roll": -0.0039062497671693563,
                        "pitch": -0.5487305521965027,
                        "yaw": -5.785037994384766
                    }
                },
                "velocity": {
                    "x": 8.01778507232666,
                    "y": -0.7755364775657654,
                    "z": -0.19204773008823395
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4100,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.650838851928711,
                "transform": {
                    "location": {
                        "x": -1369.9427490234375,
                        "y": 3109.620361328125,
                        "z": 345.5304870605469
                    },
                    "rotation": {
                        "roll": -0.02688598819077015,
                        "pitch": -0.3926334083080292,
                        "yaw": -4.948977470397949
                    }
                },
                "velocity": {
                    "x": 6.627402305603027,
                    "y": -0.5565062761306763,
                    "z": -0.03866322338581085
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4099,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.869210720062256,
                "transform": {
                    "location": {
                        "x": -1370.373779296875,
                        "y": 3106.142333984375,
                        "z": 345.52691650390625
                    },
                    "rotation": {
                        "roll": -0.0057373046875,
                        "pitch": -0.30765220522880554,
                        "yaw": -4.989871025085449
                    }
                },
                "velocity": {
                    "x": 6.845475196838379,
                    "y": -0.5689283609390259,
                    "z": -0.04295935481786728
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1075.473876953125,
                        "y": 3075.431396484375,
                        "z": 355.83795166015625
                    },
                    "rotation": {
                        "roll": -1.6680091752263593e-09,
                        "pitch": -1.3783526420593262,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4097,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.415916442871094,
                "transform": {
                    "location": {
                        "x": -1339.0186767578125,
                        "y": 3100.14892578125,
                        "z": 345.6345520019531
                    },
                    "rotation": {
                        "roll": 0.0014633296523243189,
                        "pitch": 0.31785649061203003,
                        "yaw": -3.6683971881866455
                    }
                },
                "velocity": {
                    "x": 8.398386001586914,
                    "y": -0.5384979248046875,
                    "z": 0.06910178810358047
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4096,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.794604301452637,
                "transform": {
                    "location": {
                        "x": -1329.6312255859375,
                        "y": 3106.568115234375,
                        "z": 345.7528381347656
                    },
                    "rotation": {
                        "roll": 0.0012661624932661653,
                        "pitch": 0.7483086585998535,
                        "yaw": -3.3263251781463623
                    }
                },
                "velocity": {
                    "x": 7.780823707580566,
                    "y": -0.45223742723464966,
                    "z": 0.10059453547000885
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4095,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.93425178527832,
                "transform": {
                    "location": {
                        "x": -1329.3643798828125,
                        "y": 3103.046875,
                        "z": 345.7138977050781
                    },
                    "rotation": {
                        "roll": 0.0014692911645397544,
                        "pitch": 0.762679398059845,
                        "yaw": -3.3298959732055664
                    }
                },
                "velocity": {
                    "x": 7.920168399810791,
                    "y": -0.46088075637817383,
                    "z": 0.10428129136562347
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4094,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.047882080078125,
                "transform": {
                    "location": {
                        "x": -1295.203857421875,
                        "y": 3098.00146484375,
                        "z": 346.6009826660156
                    },
                    "rotation": {
                        "roll": -0.0020141545683145523,
                        "pitch": 1.974928617477417,
                        "yaw": -1.776641845703125
                    }
                },
                "velocity": {
                    "x": 8.039312362670898,
                    "y": -0.24737252295017242,
                    "z": 0.2768743932247162
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4093,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.973162651062012,
                "transform": {
                    "location": {
                        "x": -1286.5152587890625,
                        "y": 3104.760986328125,
                        "z": 346.9080810546875
                    },
                    "rotation": {
                        "roll": -0.0026245154440402985,
                        "pitch": 2.1180005073547363,
                        "yaw": -1.393493890762329
                    }
                },
                "velocity": {
                    "x": 7.965358734130859,
                    "y": -0.19245074689388275,
                    "z": 0.295540988445282
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4092,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.029279708862305,
                "transform": {
                    "location": {
                        "x": -1286.8563232421875,
                        "y": 3101.2724609375,
                        "z": 346.9062805175781
                    },
                    "rotation": {
                        "roll": -0.009490965865552425,
                        "pitch": 2.1354925632476807,
                        "yaw": -1.4326475858688354
                    }
                },
                "velocity": {
                    "x": 8.021388053894043,
                    "y": -0.19750972092151642,
                    "z": 0.29605862498283386
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4091,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1115.8648681640625,
                        "y": 3076.334228515625,
                        "z": 354.585693359375
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.08148193359375,
                "transform": {
                    "location": {
                        "x": -1251.1077880859375,
                        "y": 3096.974609375,
                        "z": 348.46185302734375
                    },
                    "rotation": {
                        "roll": 0.02579669840633869,
                        "pitch": 2.820615291595459,
                        "yaw": -0.7559203505516052
                    }
                },
                "velocity": {
                    "x": 8.069900512695312,
                    "y": -0.18021821975708008,
                    "z": 0.3931761085987091
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1245.0889892578125,
                        "y": 3103.79248046875,
                        "z": 348.73944091796875
                    },
                    "rotation": {
                        "roll": 3.3390661346999195e-09,
                        "pitch": 2.8094000816345215,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4088,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.910442352294922,
                "transform": {
                    "location": {
                        "x": -1245.2366943359375,
                        "y": 3100.33544921875,
                        "z": 348.73388671875
                    },
                    "rotation": {
                        "roll": 0.012905139476060867,
                        "pitch": 2.83540940284729,
                        "yaw": -1.0038145780563354
                    }
                },
                "velocity": {
                    "x": 7.8988847732543945,
                    "y": -0.1764298528432846,
                    "z": 0.38934674859046936
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4087,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1164.9974365234375,
                        "y": 3077.431884765625,
                        "z": 352.7829895019531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.255096197128296,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1209.3245849609375,
                        "y": 3078.422119140625,
                        "z": 350.6303405761719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.1450493335723877,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 16.101730346679688,
                "transform": {
                    "location": {
                        "x": -1250.0238037109375,
                        "y": 3079.33154296875,
                        "z": 348.53387451171875
                    },
                    "rotation": {
                        "roll": -0.0014343260554596782,
                        "pitch": -2.8122551441192627,
                        "yaw": 178.72335815429688
                    }
                },
                "velocity": {
                    "x": -16.078685760498047,
                    "y": 0.3583565354347229,
                    "z": -0.7830727100372314
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.374691009521484,
                "transform": {
                    "location": {
                        "x": -1284.552978515625,
                        "y": 3080.104736328125,
                        "z": 347.0080261230469
                    },
                    "rotation": {
                        "roll": 0.022996271029114723,
                        "pitch": -2.2104403972625732,
                        "yaw": 178.66323852539062
                    }
                },
                "velocity": {
                    "x": -16.358501434326172,
                    "y": 0.37894442677497864,
                    "z": -0.6215894818305969
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 1.002423882484436,
        "expert_target_speed": 20.0,
        "target_point": [
            28.08001499392514,
            0.45830098549305465
        ],
        "target_point_next": [
            59.53829534296106,
            -0.29115619890621636
        ]
    },
    "565": {
        "acceleration": [
            -0.03955841064453125,
            0.04354715347290039,
            0.17236113548278809
        ],
        "angular_velocity": [
            -0.3167400658130646,
            0.7617974281311035,
            -0.12254628539085388
        ],
        "forward_vector": [
            -0.9978075623512268,
            0.062292322516441345,
            -0.022352145984768867
        ],
        "right_vector": [
            -0.06224805489182472,
            -0.9980570673942566,
            -0.0026715544518083334
        ],
        "location": [
            -1318.148193359375,
            3081.779541015625,
            345.9376525878906
        ],
        "rotation": [
            0.15310724079608917,
            -1.2807902097702026,
            176.42770385742188
        ],
        "velocity": [
            -17.376976013183594,
            1.06739342212677,
            -0.3924933969974518
        ],
        "speed": 17.409727857733948,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 72.13813781738281,
        "front_vehicle_info": {
            "id": 4045,
            "type": "vehicle.ford.mustang",
            "location": [
                -1390.0933837890625,
                3087.047119140625,
                345.7083435058594
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4101,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.098017692565918,
                "transform": {
                    "location": {
                        "x": -1376.521728515625,
                        "y": 3103.22802734375,
                        "z": 345.56256103515625
                    },
                    "rotation": {
                        "roll": -0.0076904296875,
                        "pitch": -0.47753265500068665,
                        "yaw": -5.276492118835449
                    }
                },
                "velocity": {
                    "x": 8.066001892089844,
                    "y": -0.7180274128913879,
                    "z": -0.04407568275928497
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4100,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.867990493774414,
                "transform": {
                    "location": {
                        "x": -1368.25634765625,
                        "y": 3109.482177734375,
                        "z": 345.5222473144531
                    },
                    "rotation": {
                        "roll": -0.0167236328125,
                        "pitch": -0.27487412095069885,
                        "yaw": -4.680696964263916
                    }
                },
                "velocity": {
                    "x": 6.845712661743164,
                    "y": -0.5520134568214417,
                    "z": -0.028232082724571228
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4099,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.633843421936035,
                "transform": {
                    "location": {
                        "x": -1368.6925048828125,
                        "y": 3106.00341796875,
                        "z": 345.5182800292969
                    },
                    "rotation": {
                        "roll": -0.004272460471838713,
                        "pitch": -0.2703252136707306,
                        "yaw": -4.680513381958008
                    }
                },
                "velocity": {
                    "x": 6.612793922424316,
                    "y": -0.5275599360466003,
                    "z": -0.022714266553521156
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1079.63134765625,
                        "y": 3075.52490234375,
                        "z": 355.73651123046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.4875195026397705,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4097,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.273098945617676,
                "transform": {
                    "location": {
                        "x": -1336.90283203125,
                        "y": 3100.0146484375,
                        "z": 345.65106201171875
                    },
                    "rotation": {
                        "roll": 0.0023619201965630054,
                        "pitch": 0.45863351225852966,
                        "yaw": -3.6333630084991455
                    }
                },
                "velocity": {
                    "x": 8.25632095336914,
                    "y": -0.5214604139328003,
                    "z": 0.07352721691131592
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4096,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.11954402923584,
                "transform": {
                    "location": {
                        "x": -1327.6534423828125,
                        "y": 3106.4541015625,
                        "z": 345.7801818847656
                    },
                    "rotation": {
                        "roll": -0.0039062497671693563,
                        "pitch": 0.8377704620361328,
                        "yaw": -3.2928473949432373
                    }
                },
                "velocity": {
                    "x": 8.10579776763916,
                    "y": -0.4552323818206787,
                    "z": 0.12571147084236145
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4095,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.15761947631836,
                "transform": {
                    "location": {
                        "x": -1327.3416748046875,
                        "y": 3102.93115234375,
                        "z": 345.74267578125
                    },
                    "rotation": {
                        "roll": -0.0014038056833669543,
                        "pitch": 0.8519294261932373,
                        "yaw": -3.25201416015625
                    }
                },
                "velocity": {
                    "x": 8.143896102905273,
                    "y": -0.4554424285888672,
                    "z": 0.12761415541172028
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4094,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.013100624084473,
                "transform": {
                    "location": {
                        "x": -1293.1968994140625,
                        "y": 3097.94140625,
                        "z": 346.67022705078125
                    },
                    "rotation": {
                        "roll": -0.006591797806322575,
                        "pitch": 1.9974819421768188,
                        "yaw": -1.6830140352249146
                    }
                },
                "velocity": {
                    "x": 8.005189895629883,
                    "y": -0.22171948850154877,
                    "z": 0.27848249673843384
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4093,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.944424629211426,
                "transform": {
                    "location": {
                        "x": -1284.52783203125,
                        "y": 3104.713134765625,
                        "z": 346.9828186035156
                    },
                    "rotation": {
                        "roll": 0.014213033951818943,
                        "pitch": 2.1719112396240234,
                        "yaw": -1.3422242403030396
                    }
                },
                "velocity": {
                    "x": 7.936413288116455,
                    "y": -0.1864909529685974,
                    "z": 0.3040536344051361
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4092,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.032211303710938,
                "transform": {
                    "location": {
                        "x": -1284.847412109375,
                        "y": 3101.2236328125,
                        "z": 346.98193359375
                    },
                    "rotation": {
                        "roll": -0.00808716006577015,
                        "pitch": 2.198241710662842,
                        "yaw": -1.391021728515625
                    }
                },
                "velocity": {
                    "x": 8.024118423461914,
                    "y": -0.19390380382537842,
                    "z": 0.30388185381889343
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4091,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1120.0211181640625,
                        "y": 3076.4267578125,
                        "z": 354.43414306640625
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.953934669494629,
                "transform": {
                    "location": {
                        "x": -1249.1043701171875,
                        "y": 3096.9296875,
                        "z": 348.5594787597656
                    },
                    "rotation": {
                        "roll": 0.028652304783463478,
                        "pitch": 2.8082115650177,
                        "yaw": -0.7637022733688354
                    }
                },
                "velocity": {
                    "x": 7.942509174346924,
                    "y": -0.180742546916008,
                    "z": 0.38595306873321533
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4089,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1243.01123046875,
                        "y": 3103.70361328125,
                        "z": 348.8445739746094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.8573479652404785,
                        "yaw": -1.2797242403030396
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4088,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1243.1654052734375,
                        "y": 3100.185791015625,
                        "z": 348.8420104980469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.8573479652404785,
                        "yaw": -1.2797242403030396
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4087,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1169.0653076171875,
                        "y": 3077.522705078125,
                        "z": 352.61920166015625
                    },
                    "rotation": {
                        "roll": 3.3379254915644196e-09,
                        "pitch": -2.3771309852600098,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1213.39208984375,
                        "y": 3078.5126953125,
                        "z": 350.40838623046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.0971081256866455,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 16.090267181396484,
                "transform": {
                    "location": {
                        "x": -1254.048583984375,
                        "y": 3079.42138671875,
                        "z": 348.33843994140625
                    },
                    "rotation": {
                        "roll": 0.001212205272167921,
                        "pitch": -2.7939093112945557,
                        "yaw": 178.7173614501953
                    }
                },
                "velocity": {
                    "x": -16.067447662353516,
                    "y": 0.36087220907211304,
                    "z": -0.7769184112548828
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.371891021728516,
                "transform": {
                    "location": {
                        "x": -1288.643310546875,
                        "y": 3080.2041015625,
                        "z": 346.8570556640625
                    },
                    "rotation": {
                        "roll": 0.016710545867681503,
                        "pitch": -2.066740036010742,
                        "yaw": 178.5251922607422
                    }
                },
                "velocity": {
                    "x": -16.35608673095703,
                    "y": 0.4143674671649933,
                    "z": -0.587820291519165
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9988082647323608,
        "expert_target_speed": 20.0,
        "target_point": [
            23.72544342599201,
            0.5481856371286993
        ],
        "target_point_next": [
            55.18621288410805,
            -0.08826836204217425
        ]
    },
    "570": {
        "acceleration": [
            -0.02681732177734375,
            -0.22984027862548828,
            0.19929766654968262
        ],
        "angular_velocity": [
            -0.402360200881958,
            0.6163433194160461,
            0.9978439211845398
        ],
        "forward_vector": [
            -0.9980432987213135,
            0.05955417826771736,
            -0.019048966467380524
        ],
        "right_vector": [
            -0.05955296382308006,
            -0.9982249736785889,
            -0.0006315811187960207
        ],
        "location": [
            -1322.49560546875,
            3082.04345703125,
            345.8471374511719
        ],
        "rotation": [
            0.03619350120425224,
            -1.091491460800171,
            176.5851593017578
        ],
        "velocity": [
            -17.384889602661133,
            1.0370995998382568,
            -0.3351998031139374
        ],
        "speed": 17.415796337713065,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 67.7827377319336,
        "front_vehicle_info": {
            "id": 4045,
            "type": "vehicle.ford.mustang",
            "location": [
                -1390.09326171875,
                3087.047119140625,
                345.70654296875
            ],
            "velocity": [
                -0.0003571452107280493,
                -1.4282231859397143e-05,
                -0.02390420064330101
            ],
            "speed_kmh": 0.08606474192967963,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4102,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1043.8109130859375,
                        "y": 3074.724853515625,
                        "z": 356.44140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7753903269767761,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4101,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.05909538269043,
                "transform": {
                    "location": {
                        "x": -1374.5096435546875,
                        "y": 3103.050048828125,
                        "z": 345.5496826171875
                    },
                    "rotation": {
                        "roll": -0.006683350540697575,
                        "pitch": -0.4479374289512634,
                        "yaw": -4.963594436645508
                    }
                },
                "velocity": {
                    "x": 8.029343605041504,
                    "y": -0.690146803855896,
                    "z": -0.04849020019173622
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4100,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.776944637298584,
                "transform": {
                    "location": {
                        "x": -1366.6866455078125,
                        "y": 3109.35302734375,
                        "z": 345.5159606933594
                    },
                    "rotation": {
                        "roll": -0.003021240234375,
                        "pitch": -0.28179308772087097,
                        "yaw": -4.704530715942383
                    }
                },
                "velocity": {
                    "x": 5.757270336151123,
                    "y": -0.475771963596344,
                    "z": -0.023804744705557823
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4099,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.931666851043701,
                "transform": {
                    "location": {
                        "x": -1367.00732421875,
                        "y": 3105.86669921875,
                        "z": 345.5118713378906
                    },
                    "rotation": {
                        "roll": -0.0017395024187862873,
                        "pitch": -0.1528937816619873,
                        "yaw": -4.622254848480225
                    }
                },
                "velocity": {
                    "x": 6.908432960510254,
                    "y": -0.5666357278823853,
                    "z": -0.02207842282950878
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1083.8328857421875,
                        "y": 3075.61865234375,
                        "z": 355.6277160644531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.596672773361206,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4097,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.793276786804199,
                "transform": {
                    "location": {
                        "x": -1334.9141845703125,
                        "y": 3099.888916015625,
                        "z": 345.6689453125
                    },
                    "rotation": {
                        "roll": -3.051896783290431e-05,
                        "pitch": 0.5797191262245178,
                        "yaw": -3.622131586074829
                    }
                },
                "velocity": {
                    "x": 7.777342319488525,
                    "y": -0.49238863587379456,
                    "z": 0.07522935420274734
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4096,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.035585403442383,
                "transform": {
                    "location": {
                        "x": -1325.6239013671875,
                        "y": 3106.33984375,
                        "z": 345.8108215332031
                    },
                    "rotation": {
                        "roll": -0.0027160632889717817,
                        "pitch": 0.9517116546630859,
                        "yaw": -3.2100226879119873
                    }
                },
                "velocity": {
                    "x": 8.022154808044434,
                    "y": -0.4464433491230011,
                    "z": 0.12790249288082123
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4095,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.949586868286133,
                "transform": {
                    "location": {
                        "x": -1325.3343505859375,
                        "y": 3102.819091796875,
                        "z": 345.7737121582031
                    },
                    "rotation": {
                        "roll": -0.0007629418978467584,
                        "pitch": 0.9439799189567566,
                        "yaw": -3.192871570587158
                    }
                },
                "velocity": {
                    "x": 7.936264514923096,
                    "y": -0.44121938943862915,
                    "z": 0.13024555146694183
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4094,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.044511795043945,
                "transform": {
                    "location": {
                        "x": -1291.1917724609375,
                        "y": 3097.885986328125,
                        "z": 346.740234375
                    },
                    "rotation": {
                        "roll": -0.003753664903342724,
                        "pitch": 2.009523391723633,
                        "yaw": -1.575347661972046
                    }
                },
                "velocity": {
                    "x": 8.036382675170898,
                    "y": -0.21765263378620148,
                    "z": 0.2887047827243805
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4093,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.9816508293151855,
                "transform": {
                    "location": {
                        "x": -1282.5382080078125,
                        "y": 3104.66650390625,
                        "z": 347.0587158203125
                    },
                    "rotation": {
                        "roll": 0.018529150635004044,
                        "pitch": 2.2372899055480957,
                        "yaw": -1.312041997909546
                    }
                },
                "velocity": {
                    "x": 7.973589897155762,
                    "y": -0.18238240480422974,
                    "z": 0.3087930679321289
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4092,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.005703926086426,
                "transform": {
                    "location": {
                        "x": -1282.845703125,
                        "y": 3101.17578125,
                        "z": 347.0583190917969
                    },
                    "rotation": {
                        "roll": -0.007232665549963713,
                        "pitch": 2.2525758743286133,
                        "yaw": -1.35650634765625
                    }
                },
                "velocity": {
                    "x": 7.997452735900879,
                    "y": -0.18688681721687317,
                    "z": 0.3116432726383209
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4091,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1124.17822265625,
                        "y": 3076.519287109375,
                        "z": 354.2825622558594
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4090,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1247.025390625,
                        "y": 3096.831298828125,
                        "z": 348.6590881347656
                    },
                    "rotation": {
                        "roll": 3.3390661346999195e-09,
                        "pitch": 2.8094000816345215,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4087,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1173.1365966796875,
                        "y": 3077.61328125,
                        "z": 352.4473876953125
                    },
                    "rotation": {
                        "roll": -1.6691140691804662e-09,
                        "pitch": -2.499084234237671,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1217.4215087890625,
                        "y": 3078.6025390625,
                        "z": 350.1910400390625
                    },
                    "rotation": {
                        "roll": -3.339781340372383e-09,
                        "pitch": -3.049187421798706,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 16.205345153808594,
                "transform": {
                    "location": {
                        "x": -1258.083740234375,
                        "y": 3079.51171875,
                        "z": 348.14501953125
                    },
                    "rotation": {
                        "roll": 0.0007942417869344354,
                        "pitch": -2.7015650272369385,
                        "yaw": 178.71910095214844
                    }
                },
                "velocity": {
                    "x": -16.183191299438477,
                    "y": 0.3633781969547272,
                    "z": -0.7651469111442566
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.369770050048828,
                "transform": {
                    "location": {
                        "x": -1292.732666015625,
                        "y": 3080.313720703125,
                        "z": 346.71240234375
                    },
                    "rotation": {
                        "roll": 0.032620325684547424,
                        "pitch": -1.9743889570236206,
                        "yaw": 178.3434600830078
                    }
                },
                "velocity": {
                    "x": -16.35325050354004,
                    "y": 0.4646816849708557,
                    "z": -0.5697745680809021
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.023906873539090157,
                "transform": {
                    "location": {
                        "x": -1390.09326171875,
                        "y": 3087.047119140625,
                        "z": 345.70654296875
                    },
                    "rotation": {
                        "roll": 0.0008646949427202344,
                        "pitch": 0.8526261448860168,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": -0.0003571452107280493,
                    "y": -1.4282231859397143e-05,
                    "z": -0.02390420064330101
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.023128315806388855,
                "transform": {
                    "location": {
                        "x": -1389.7266845703125,
                        "y": 3090.5283203125,
                        "z": 345.70672607421875
                    },
                    "rotation": {
                        "roll": -0.0003967285738326609,
                        "pitch": 0.8533228039741516,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": -0.0003411856305319816,
                    "y": 2.5909943360602483e-05,
                    "z": -0.0231257863342762
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.012355012819170952,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.7074890136719
                    },
                    "rotation": {
                        "roll": -0.0009765636641532183,
                        "pitch": 0.8607813715934753,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": -0.00042664408101700246,
                    "y": 9.17484940146096e-05,
                    "z": -0.012347303330898285
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 1.0001331567764282,
        "expert_target_speed": 20.0,
        "target_point": [
            19.371447136567724,
            0.4874814504526498
        ],
        "target_point_next": [
            50.83034882423961,
            -0.23542462586869384
        ]
    },
    "575": {
        "acceleration": [
            -0.0104522705078125,
            -0.5094540119171143,
            0.23352503776550293
        ],
        "angular_velocity": [
            -0.4370623230934143,
            0.5265519022941589,
            1.964714527130127
        ],
        "forward_vector": [
            -0.9985080361366272,
            0.0522649884223938,
            -0.01581316627562046
        ],
        "right_vector": [
            -0.05229734629392624,
            -0.998630166053772,
            0.0016392357647418976
        ],
        "location": [
            -1326.84423828125,
            3082.2890625,
            345.7709655761719
        ],
        "rotation": [
            -0.09393307566642761,
            -0.9060655236244202,
            177.00369262695312
        ],
        "velocity": [
            -17.38985252380371,
            0.9217635989189148,
            -0.27827614545822144
        ],
        "speed": 17.414264811697745,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 63.42765426635742,
        "front_vehicle_info": {
            "id": 4045,
            "type": "vehicle.ford.mustang",
            "location": [
                -1390.0931396484375,
                3087.047119140625,
                345.7027587890625
            ],
            "velocity": [
                -8.274480205727741e-05,
                -1.2090811651432887e-05,
                -0.0071211932227015495
            ],
            "speed_kmh": 0.02563806311002013,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4102,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1048.014892578125,
                        "y": 3074.818603515625,
                        "z": 356.3620300292969
                    },
                    "rotation": {
                        "roll": -8.338676416030921e-10,
                        "pitch": -0.9065504670143127,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4101,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.091813087463379,
                "transform": {
                    "location": {
                        "x": -1372.497314453125,
                        "y": 3102.876220703125,
                        "z": 345.5361633300781
                    },
                    "rotation": {
                        "roll": -0.004058836027979851,
                        "pitch": -0.3124333322048187,
                        "yaw": -4.906130790710449
                    }
                },
                "velocity": {
                    "x": 8.061180114746094,
                    "y": -0.7017027139663696,
                    "z": -0.04920518770813942
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4100,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.990143775939941,
                "transform": {
                    "location": {
                        "x": -1365.2462158203125,
                        "y": 3109.233642578125,
                        "z": 345.5120544433594
                    },
                    "rotation": {
                        "roll": 0.0002576527767814696,
                        "pitch": -0.13934268057346344,
                        "yaw": -4.733828067779541
                    }
                },
                "velocity": {
                    "x": 5.969581127166748,
                    "y": -0.49572843313217163,
                    "z": -0.013389673084020615
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4099,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.921874523162842,
                "transform": {
                    "location": {
                        "x": -1365.1741943359375,
                        "y": 3105.716064453125,
                        "z": 345.5067138671875
                    },
                    "rotation": {
                        "roll": 0.00033164778142236173,
                        "pitch": -0.10271921008825302,
                        "yaw": -4.700471878051758
                    }
                },
                "velocity": {
                    "x": 7.894771575927734,
                    "y": -0.6545039415359497,
                    "z": -0.01731017976999283
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1087.995361328125,
                        "y": 3075.71142578125,
                        "z": 355.5134582519531
                    },
                    "rotation": {
                        "roll": -1.6682658587896526e-09,
                        "pitch": -1.7058396339416504,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4097,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.1093111038208,
                "transform": {
                    "location": {
                        "x": -1332.932373046875,
                        "y": 3099.765625,
                        "z": 345.6885986328125
                    },
                    "rotation": {
                        "roll": 0.0053045195527374744,
                        "pitch": 0.5591738820075989,
                        "yaw": -3.5505683422088623
                    }
                },
                "velocity": {
                    "x": 8.09406852722168,
                    "y": -0.4891526997089386,
                    "z": 0.08783998340368271
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4096,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.956371784210205,
                "transform": {
                    "location": {
                        "x": -1323.637451171875,
                        "y": 3106.229248046875,
                        "z": 345.8448791503906
                    },
                    "rotation": {
                        "roll": -0.0008544930606149137,
                        "pitch": 0.9898173213005066,
                        "yaw": -3.179565668106079
                    }
                },
                "velocity": {
                    "x": 7.942741394042969,
                    "y": -0.4412735402584076,
                    "z": 0.14828044176101685
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4095,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.08084774017334,
                "transform": {
                    "location": {
                        "x": -1323.3353271484375,
                        "y": 3102.708251953125,
                        "z": 345.8084411621094
                    },
                    "rotation": {
                        "roll": -0.0041503929533064365,
                        "pitch": 1.0218850374221802,
                        "yaw": -3.156769275665283
                    }
                },
                "velocity": {
                    "x": 8.0679292678833,
                    "y": -0.4306045174598694,
                    "z": 0.1522849202156067
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4094,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.005069732666016,
                "transform": {
                    "location": {
                        "x": -1289.1875,
                        "y": 3097.831787109375,
                        "z": 346.8121337890625
                    },
                    "rotation": {
                        "roll": -0.0047607445158064365,
                        "pitch": 2.0996546745300293,
                        "yaw": -1.5438536405563354
                    }
                },
                "velocity": {
                    "x": 7.996927261352539,
                    "y": -0.21591298282146454,
                    "z": 0.2892729341983795
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4093,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.948287487030029,
                "transform": {
                    "location": {
                        "x": -1280.549072265625,
                        "y": 3104.62109375,
                        "z": 347.13629150390625
                    },
                    "rotation": {
                        "roll": 0.019530460238456726,
                        "pitch": 2.236729621887207,
                        "yaw": -1.2942506074905396
                    }
                },
                "velocity": {
                    "x": 7.940186023712158,
                    "y": -0.1789661943912506,
                    "z": 0.31095218658447266
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4092,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.033332824707031,
                "transform": {
                    "location": {
                        "x": -1280.842529296875,
                        "y": 3101.12939453125,
                        "z": 347.1365051269531
                    },
                    "rotation": {
                        "roll": -0.0035400399938225746,
                        "pitch": 2.253436326980591,
                        "yaw": -1.331939697265625
                    }
                },
                "velocity": {
                    "x": 8.025036811828613,
                    "y": -0.1864832192659378,
                    "z": 0.3137640953063965
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4091,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1128.3829345703125,
                        "y": 3076.6142578125,
                        "z": 354.1292419433594
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4087,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1177.260009765625,
                        "y": 3077.705810546875,
                        "z": 352.267578125
                    },
                    "rotation": {
                        "roll": -3.3385456621459753e-09,
                        "pitch": -2.621091842651367,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1221.5059814453125,
                        "y": 3078.693603515625,
                        "z": 349.9734191894531
                    },
                    "rotation": {
                        "roll": 3.339633902754713e-09,
                        "pitch": -3.001253366470337,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 16.24695587158203,
                "transform": {
                    "location": {
                        "x": -1262.131591796875,
                        "y": 3079.60205078125,
                        "z": 347.955078125
                    },
                    "rotation": {
                        "roll": -0.001037595677189529,
                        "pitch": -2.6835880279541016,
                        "yaw": 178.72486877441406
                    }
                },
                "velocity": {
                    "x": -16.225553512573242,
                    "y": 0.36246588826179504,
                    "z": -0.7507423162460327
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.368188858032227,
                "transform": {
                    "location": {
                        "x": -1296.8211669921875,
                        "y": 3080.436767578125,
                        "z": 346.5738220214844
                    },
                    "rotation": {
                        "roll": 0.03847913816571236,
                        "pitch": -1.9225479364395142,
                        "yaw": 178.15127563476562
                    }
                },
                "velocity": {
                    "x": -16.350706100463867,
                    "y": 0.5212775468826294,
                    "z": -0.5480193495750427
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.007121684495359659,
                "transform": {
                    "location": {
                        "x": -1390.0931396484375,
                        "y": 3087.047119140625,
                        "z": 345.7027587890625
                    },
                    "rotation": {
                        "roll": -9.155333100352436e-05,
                        "pitch": 0.8235978484153748,
                        "yaw": 173.6766815185547
                    }
                },
                "velocity": {
                    "x": -8.274480205727741e-05,
                    "y": -1.2090811651432887e-05,
                    "z": -0.0071211932227015495
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0068549118004739285,
                "transform": {
                    "location": {
                        "x": -1389.7265625,
                        "y": 3090.5283203125,
                        "z": 345.7030334472656
                    },
                    "rotation": {
                        "roll": -0.00018310672021470964,
                        "pitch": 0.8248750567436218,
                        "yaw": 173.6766815185547
                    }
                },
                "velocity": {
                    "x": -9.296223288401961e-05,
                    "y": -0.00010955381003441289,
                    "z": -0.006853405851870775
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.007221312262117863,
                "transform": {
                    "location": {
                        "x": -1389.3673095703125,
                        "y": 3094.00927734375,
                        "z": 345.70501708984375
                    },
                    "rotation": {
                        "roll": -0.0007629433530382812,
                        "pitch": 0.846704363822937,
                        "yaw": 173.6766815185547
                    }
                },
                "velocity": {
                    "x": -0.0001577259536134079,
                    "y": 7.126877608243376e-05,
                    "z": -0.007219237741082907
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9983113408088684,
        "expert_target_speed": 20.0,
        "target_point": [
            15.018965178154593,
            0.36392844547704645
        ],
        "target_point_next": [
            46.47174703244534,
            -0.5887531467593976
        ]
    },
    "580": {
        "acceleration": [
            0.048370361328125,
            0.13001561164855957,
            0.27547240257263184
        ],
        "angular_velocity": [
            0.3639097511768341,
            0.38164982199668884,
            -1.138555884361267
        ],
        "forward_vector": [
            -0.9985816478729248,
            0.05173075199127197,
            -0.01259519997984171
        ],
        "right_vector": [
            -0.05174598470330238,
            -0.9986598491668701,
            0.0008862295071594417
        ],
        "location": [
            -1331.192626953125,
            3082.517333984375,
            345.70892333984375
        ],
        "rotation": [
            -0.0507812462747097,
            -0.721670925617218,
            177.03448486328125
        ],
        "velocity": [
            -17.381385803222656,
            0.9198756814002991,
            -0.22014835476875305
        ],
        "speed": 17.405710089212153,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 59.074440002441406,
        "front_vehicle_info": {
            "id": 4045,
            "type": "vehicle.ford.mustang",
            "location": [
                -1390.0931396484375,
                3087.047119140625,
                345.70245361328125
            ],
            "velocity": [
                3.342330273881089e-06,
                0.00012715256889350712,
                -0.0022693912032991648
            ],
            "speed_kmh": 0.008182630831954429,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4102,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1052.1817626953125,
                        "y": 3074.911865234375,
                        "z": 356.29791259765625
                    },
                    "rotation": {
                        "roll": -8.338676416030921e-10,
                        "pitch": -0.9065504670143127,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4101,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.338842868804932,
                "transform": {
                    "location": {
                        "x": -1370.6051025390625,
                        "y": 3102.711181640625,
                        "z": 345.52593994140625
                    },
                    "rotation": {
                        "roll": -0.0015258797211572528,
                        "pitch": -0.3136969208717346,
                        "yaw": -4.991854190826416
                    }
                },
                "velocity": {
                    "x": 7.3104705810546875,
                    "y": -0.643642008304596,
                    "z": -0.03682122007012367
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4100,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.655834674835205,
                "transform": {
                    "location": {
                        "x": -1363.6143798828125,
                        "y": 3109.09814453125,
                        "z": 345.50872802734375
                    },
                    "rotation": {
                        "roll": 0.00017489375022705644,
                        "pitch": 0.0937580019235611,
                        "yaw": -4.743745803833008
                    }
                },
                "velocity": {
                    "x": 7.62949800491333,
                    "y": -0.6343236565589905,
                    "z": -0.01413169875741005
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4099,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.368648529052734,
                "transform": {
                    "location": {
                        "x": -1363.0933837890625,
                        "y": 3105.54345703125,
                        "z": 345.5030822753906
                    },
                    "rotation": {
                        "roll": -9.155292354989797e-05,
                        "pitch": -0.07626588642597198,
                        "yaw": -4.751832962036133
                    }
                },
                "velocity": {
                    "x": 8.339863777160645,
                    "y": -0.6934959888458252,
                    "z": -0.0026828383561223745
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4098,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1092.202880859375,
                        "y": 3075.805908203125,
                        "z": 355.39154052734375
                    },
                    "rotation": {
                        "roll": -1.6682658587896526e-09,
                        "pitch": -1.7058396339416504,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4097,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.020310401916504,
                "transform": {
                    "location": {
                        "x": -1330.912841796875,
                        "y": 3099.643310546875,
                        "z": 345.71221923828125
                    },
                    "rotation": {
                        "roll": 0.0008408770663663745,
                        "pitch": 0.6945345997810364,
                        "yaw": -3.4729926586151123
                    }
                },
                "velocity": {
                    "x": 8.005167961120605,
                    "y": -0.4824378192424774,
                    "z": 0.0995856299996376
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4096,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.063957214355469,
                "transform": {
                    "location": {
                        "x": -1321.6339111328125,
                        "y": 3106.1220703125,
                        "z": 345.8811340332031
                    },
                    "rotation": {
                        "roll": -0.0053405798971652985,
                        "pitch": 1.1414406299591064,
                        "yaw": -3.054047107696533
                    }
                },
                "velocity": {
                    "x": 8.05150318145752,
                    "y": -0.4209751486778259,
                    "z": 0.153243750333786
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4095,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.01750659942627,
                "transform": {
                    "location": {
                        "x": -1321.3221435546875,
                        "y": 3102.601806640625,
                        "z": 345.84576416015625
                    },
                    "rotation": {
                        "roll": -0.0038452132139354944,
                        "pitch": 1.1334152221679688,
                        "yaw": -3.025543451309204
                    }
                },
                "velocity": {
                    "x": 8.005109786987305,
                    "y": -0.4174428880214691,
                    "z": 0.15615728497505188
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4094,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.053363800048828,
                "transform": {
                    "location": {
                        "x": -1287.1815185546875,
                        "y": 3097.78076171875,
                        "z": 346.8856201171875
                    },
                    "rotation": {
                        "roll": -0.007232665549963713,
                        "pitch": 2.1131443977355957,
                        "yaw": -1.444244146347046
                    }
                },
                "velocity": {
                    "x": 8.045492172241211,
                    "y": -0.19695022702217102,
                    "z": 0.2965434491634369
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4093,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.977433681488037,
                "transform": {
                    "location": {
                        "x": -1278.5601806640625,
                        "y": 3104.576171875,
                        "z": 347.21435546875
                    },
                    "rotation": {
                        "roll": 0.007306084036827087,
                        "pitch": 2.258723020553589,
                        "yaw": -1.2943724393844604
                    }
                },
                "velocity": {
                    "x": 7.968980312347412,
                    "y": -0.17944741249084473,
                    "z": 0.32031601667404175
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4092,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.01634407043457,
                "transform": {
                    "location": {
                        "x": -1278.8380126953125,
                        "y": 3101.0830078125,
                        "z": 347.2146911621094
                    },
                    "rotation": {
                        "roll": -0.004150391090661287,
                        "pitch": 2.252145528793335,
                        "yaw": -1.31915283203125
                    }
                },
                "velocity": {
                    "x": 8.00797176361084,
                    "y": -0.18244512379169464,
                    "z": 0.317608505487442
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4091,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1132.5894775390625,
                        "y": 3076.7080078125,
                        "z": 353.9758605957031
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4087,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1181.38671875,
                        "y": 3077.79736328125,
                        "z": 352.0799865722656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.743065357208252,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4078,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1225.591552734375,
                        "y": 3078.78515625,
                        "z": 349.7578125
                    },
                    "rotation": {
                        "roll": 3.339633902754713e-09,
                        "pitch": -3.001253366470337,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4068,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 16.242874145507812,
                "transform": {
                    "location": {
                        "x": -1266.181640625,
                        "y": 3079.6923828125,
                        "z": 347.7708435058594
                    },
                    "rotation": {
                        "roll": 0.0002567592600826174,
                        "pitch": -2.5469911098480225,
                        "yaw": 178.7217559814453
                    }
                },
                "velocity": {
                    "x": -16.222946166992188,
                    "y": 0.36199772357940674,
                    "z": -0.7182667255401611
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4056,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.367704391479492,
                "transform": {
                    "location": {
                        "x": -1300.90869140625,
                        "y": 3080.57373046875,
                        "z": 346.43817138671875
                    },
                    "rotation": {
                        "roll": 0.028144510462880135,
                        "pitch": -1.9067974090576172,
                        "yaw": 177.9695587158203
                    }
                },
                "velocity": {
                    "x": -16.348567962646484,
                    "y": 0.5769921541213989,
                    "z": -0.5414428114891052
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0022729530464857817,
                "transform": {
                    "location": {
                        "x": -1390.0931396484375,
                        "y": 3087.047119140625,
                        "z": 345.70245361328125
                    },
                    "rotation": {
                        "roll": 0.00024361390387639403,
                        "pitch": 0.8202236890792847,
                        "yaw": 173.67672729492188
                    }
                },
                "velocity": {
                    "x": 3.342330273881089e-06,
                    "y": 0.00012715256889350712,
                    "z": -0.0022693912032991648
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.85400390625,
                        "y": 3088.28369140625,
                        "z": 345.89935302734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.002054414711892605,
                "transform": {
                    "location": {
                        "x": -1389.7265625,
                        "y": 3090.5283203125,
                        "z": 345.7027587890625
                    },
                    "rotation": {
                        "roll": -0.0008239696617238224,
                        "pitch": 0.8220200538635254,
                        "yaw": 173.6767120361328
                    }
                },
                "velocity": {
                    "x": -8.773654371907469e-06,
                    "y": -3.431633012951352e-05,
                    "z": -0.0020541094709187746
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.4527587890625,
                        "y": 3091.76025390625,
                        "z": 345.8979187011719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.002150462009012699,
                "transform": {
                    "location": {
                        "x": -1389.3671875,
                        "y": 3094.00927734375,
                        "z": 345.70428466796875
                    },
                    "rotation": {
                        "roll": -0.001556393806822598,
                        "pitch": 0.8418890833854675,
                        "yaw": 173.67672729492188
                    }
                },
                "velocity": {
                    "x": -6.470351945608854e-05,
                    "y": 0.00013989683066029102,
                    "z": -0.0021449311170727015
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.99072265625,
                        "y": 3095.230224609375,
                        "z": 345.90179443359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9985108971595764,
        "expert_target_speed": 20.0,
        "target_point": [
            10.664783439164927,
            0.3588605057783721
        ],
        "target_point_next": [
            42.117048785015704,
            -0.6107235307970384
        ]
    },
    "585": {
        "acceleration": [
            0.089263916015625,
            0.36942362785339355,
            0.2398255467414856
        ],
        "angular_velocity": [
            0.35147741436958313,
            0.29683804512023926,
            -1.3922407627105713
        ],
        "forward_vector": [
            -0.9982895255088806,
            0.05770239979028702,
            -0.009405474178493023
        ],
        "right_vector": [
            -0.05769769102334976,
            -0.9983338117599487,
            -0.000771069317124784
        ],
        "location": [
            -1335.537353515625,
            3082.755859375,
            345.66131591796875
        ],
        "rotation": [
            0.0441809743642807,
            -0.5389019250869751,
            176.69190979003906
        ],
        "velocity": [
            -17.361555099487305,
            0.9936360120773315,
            -0.16451068222522736
        ],
        "speed": 17.389965727310408,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 54.72431182861328,
        "front_vehicle_info": {
            "id": 4045,
            "type": "vehicle.ford.mustang",
            "location": [
                -1390.0931396484375,
                3087.047119140625,
                345.7024230957031
            ],
            "velocity": [
                2.680346369743347e-05,
                -3.5029463560931617e-06,
                -4.375740900286473e-05
            ],
            "speed_kmh": 0.0001851606776836941,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4105,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9600507020950317,
                "transform": {
                    "location": {
                        "x": -1302.04248046875,
                        "y": 3080.607421875,
                        "z": 346.5963134765625
                    },
                    "rotation": {
                        "roll": 6.673862351647131e-09,
                        "pitch": -1.9224181175231934,
                        "yaw": 177.93045043945312
                    }
                },
                "velocity": {
                    "x": -0.0014848177088424563,
                    "y": 5.365580364014022e-05,
                    "z": -1.960050106048584
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4104,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.9600600004196167,
                "transform": {
                    "location": {
                        "x": -1302.068603515625,
                        "y": 3084.11083984375,
                        "z": 346.59124755859375
                    },
                    "rotation": {
                        "roll": 3.3369311758235654e-09,
                        "pitch": -1.9224181175231934,
                        "yaw": 177.92311096191406
                    }
                },
                "velocity": {
                    "x": -0.0017534020589664578,
                    "y": 6.358580867527053e-05,
                    "z": -1.9600591659545898
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4103,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.960060715675354,
                "transform": {
                    "location": {
                        "x": -1302.4964599609375,
                        "y": 3087.62841796875,
                        "z": 346.57269287109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9224181175231934,
                        "yaw": 177.89637756347656
                    }
                },
                "velocity": {
                    "x": -0.0017744795186445117,
                    "y": 6.517877773148939e-05,
                    "z": -1.9600598812103271
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4101,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.193106651306152,
                "transform": {
                    "location": {
                        "x": -1368.6888427734375,
                        "y": 3102.54248046875,
                        "z": 345.5168762207031
                    },
                    "rotation": {
                        "roll": -0.001007079379633069,
                        "pitch": -0.23458966612815857,
                        "yaw": -5.045138359069824
                    }
                },
                "velocity": {
                    "x": 8.161126136779785,
                    "y": -0.7227239012718201,
                    "z": -0.026148103177547455
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4100,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.325620651245117,
                "transform": {
                    "location": {
                        "x": -1361.5555419921875,
                        "y": 3108.927490234375,
                        "z": 345.5067443847656
                    },
                    "rotation": {
                        "roll": 2.7802749173133634e-05,
                        "pitch": 0.13736875355243683,
                        "yaw": -4.730226993560791
                    }
                },
                "velocity": {
                    "x": 8.297077178955078,
                    "y": -0.6887714266777039,
                    "z": -0.007909612730145454
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4099,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.871456623077393,
                "transform": {
                    "location": {
                        "x": -1361.079345703125,
                        "y": 3105.3759765625,
                        "z": 345.5018615722656
                    },
                    "rotation": {
                        "roll": 0.00027495561516843736,
                        "pitch": 0.03766849264502525,
                        "yaw": -4.765383243560791
                    }
                },
                "velocity": {
                    "x": 7.844188690185547,
                    "y": -0.6546271443367004,
                    "z": -0.0003257369971834123
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4097,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.01806354522705,
                "transform": {
                    "location": {
                        "x": -1328.915771484375,
                        "y": 3099.52294921875,
                        "z": 345.7371826171875
                    },
                    "rotation": {
                        "roll": -0.00021362250845413655,
                        "pitch": 0.7647762298583984,
                        "yaw": -3.448090076446533
                    }
                },
                "velocity": {
                    "x": 8.002909660339355,
                    "y": -0.4804467558860779,
                    "z": 0.10934873670339584
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4096,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.010232925415039,
                "transform": {
                    "location": {
                        "x": -1319.625732421875,
                        "y": 3106.01708984375,
                        "z": 345.9217224121094
                    },
                    "rotation": {
                        "roll": -0.0024108882062137127,
                        "pitch": 1.1730302572250366,
                        "yaw": -2.98626708984375
                    }
                },
                "velocity": {
                    "x": 7.997504234313965,
                    "y": -0.4158118665218353,
                    "z": 0.1756826490163803
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4095,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.045080184936523,
                "transform": {
                    "location": {
                        "x": -1319.319091796875,
                        "y": 3102.4970703125,
                        "z": 345.88677978515625
                    },
                    "rotation": {
                        "roll": -0.0015563966007903218,
                        "pitch": 1.1932885646820068,
                        "yaw": -2.977203845977783
                    }
                },
                "velocity": {
                    "x": 8.0323486328125,
                    "y": -0.416400283575058,
                    "z": 0.17695502936840057
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4094,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.99611759185791,
                "transform": {
                    "location": {
                        "x": -1285.177490234375,
                        "y": 3097.7314453125,
                        "z": 346.96038818359375
                    },
                    "rotation": {
                        "roll": -0.007049560081213713,
                        "pitch": 2.1582508087158203,
                        "yaw": -1.3984678983688354
                    }
                },
                "velocity": {
                    "x": 7.987850189208984,
                    "y": -0.19278430938720703,
                    "z": 0.3081870377063751
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4093,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.943861961364746,
                "transform": {
                    "location": {
                        "x": -1276.5716552734375,
                        "y": 3104.53125,
                        "z": 347.2946472167969
                    },
                    "rotation": {
                        "roll": -0.0003662077069748193,
                        "pitch": 2.3665988445281982,
                        "yaw": -1.292419195175171
                    }
                },
                "velocity": {
                    "x": 7.935192584991455,
                    "y": -0.1789821982383728,
                    "z": 0.32500189542770386
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4092,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.021035194396973,
                "transform": {
                    "location": {
                        "x": -1276.83544921875,
                        "y": 3101.037353515625,
                        "z": 347.29534912109375
                    },
                    "rotation": {
                        "roll": -0.0038146974984556437,
                        "pitch": 2.36232328414917,
                        "yaw": -1.3037413358688354
                    }
                },
                "velocity": {
                    "x": 8.012524604797363,
                    "y": -0.18117870390415192,
                    "z": 0.3219003975391388
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.14335188199766e-05,
                "transform": {
                    "location": {
                        "x": -1390.0931396484375,
                        "y": 3087.047119140625,
                        "z": 345.7024230957031
                    },
                    "rotation": {
                        "roll": 0.00016686643357388675,
                        "pitch": 0.8193767666816711,
                        "yaw": 173.6768035888672
                    }
                },
                "velocity": {
                    "x": 2.680346369743347e-05,
                    "y": -3.5029463560931617e-06,
                    "z": -4.375740900286473e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.329006671905518,
                "transform": {
                    "location": {
                        "x": -1401.9346923828125,
                        "y": 3088.407958984375,
                        "z": 345.90875244140625
                    },
                    "rotation": {
                        "roll": -0.0008850125013850629,
                        "pitch": 0.9014005064964294,
                        "yaw": 173.34010314941406
                    }
                },
                "velocity": {
                    "x": -4.298112869262695,
                    "y": 0.487760066986084,
                    "z": 0.16916413605213165
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.8460417272290215e-05,
                "transform": {
                    "location": {
                        "x": -1389.7265625,
                        "y": 3090.5283203125,
                        "z": 345.70269775390625
                    },
                    "rotation": {
                        "roll": -0.0003967286320403218,
                        "pitch": 0.8207974433898926,
                        "yaw": 173.67681884765625
                    }
                },
                "velocity": {
                    "x": 2.4742184905335307e-05,
                    "y": -2.8267260859138332e-05,
                    "z": -8.245597200584598e-06
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.383362770080566,
                "transform": {
                    "location": {
                        "x": -1401.5445556640625,
                        "y": 3091.885986328125,
                        "z": 345.88543701171875
                    },
                    "rotation": {
                        "roll": -0.0039062451105564833,
                        "pitch": 0.8992421627044678,
                        "yaw": 173.3341064453125
                    }
                },
                "velocity": {
                    "x": -4.3536787033081055,
                    "y": 0.49865007400512695,
                    "z": 0.10345016419887543
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00012453921954147518,
                "transform": {
                    "location": {
                        "x": -1389.3671875,
                        "y": 3094.00927734375,
                        "z": 345.7040100097656
                    },
                    "rotation": {
                        "roll": -0.0018615699373185635,
                        "pitch": 0.8400722146034241,
                        "yaw": 173.67681884765625
                    }
                },
                "velocity": {
                    "x": 2.202853465860244e-05,
                    "y": -2.5137960619758815e-05,
                    "z": -0.0001199701800942421
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.0586323738098145,
                "transform": {
                    "location": {
                        "x": -1401.0006103515625,
                        "y": 3095.34716796875,
                        "z": 345.87457275390625
                    },
                    "rotation": {
                        "roll": 0.0021475141402333975,
                        "pitch": 0.9087839126586914,
                        "yaw": 173.31446838378906
                    }
                },
                "velocity": {
                    "x": -4.031736850738525,
                    "y": 0.45862895250320435,
                    "z": 0.08516372740268707
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 1.0005930662155151,
        "expert_target_speed": 20.0,
        "target_point": [
            37.768696533890505,
            -0.371477301603246
        ],
        "target_point_next": [
            42.521612729741584,
            -4.065035809488258
        ]
    },
    "590": {
        "acceleration": [
            0.0838470458984375,
            0.019922256469726562,
            0.11689364910125732
        ],
        "angular_velocity": [
            -0.17412132024765015,
            0.07475344836711884,
            0.29733067750930786
        ],
        "forward_vector": [
            -0.998137354850769,
            0.060497697442770004,
            -0.007868446409702301
        ],
        "right_vector": [
            -0.06049247831106186,
            -0.9981682300567627,
            -0.0008994000963866711
        ],
        "location": [
            -1339.8756103515625,
            3083.010986328125,
            345.62469482421875
        ],
        "rotation": [
            0.05153343081474304,
            -0.45083343982696533,
            176.53150939941406
        ],
        "velocity": [
            -17.339324951171875,
            1.0314602851867676,
            -0.13399972021579742
        ],
        "speed": 17.369976974142745,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 50.424171447753906,
        "front_vehicle_info": {
            "id": 4045,
            "type": "vehicle.ford.mustang",
            "location": [
                -1390.1375732421875,
                3087.051513671875,
                345.7029113769531
            ],
            "velocity": [
                -0.6015805006027222,
                0.05694976821541786,
                0.007777357008308172
            ],
            "speed_kmh": 2.1755525947792465,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4105,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.13230489194393158,
                "transform": {
                    "location": {
                        "x": -1302.0382080078125,
                        "y": 3080.607177734375,
                        "z": 346.34234619140625
                    },
                    "rotation": {
                        "roll": -0.0019531213911250234,
                        "pitch": -1.8890389204025269,
                        "yaw": 177.93032836914062
                    }
                },
                "velocity": {
                    "x": -0.004457555245608091,
                    "y": 0.0002149892970919609,
                    "z": 0.13222961127758026
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4104,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.01130679715424776,
                "transform": {
                    "location": {
                        "x": -1302.063720703125,
                        "y": 3084.110595703125,
                        "z": 346.3334045410156
                    },
                    "rotation": {
                        "roll": 0.0015292116440832615,
                        "pitch": -1.9440561532974243,
                        "yaw": 177.92347717285156
                    }
                },
                "velocity": {
                    "x": 0.00023658692953176796,
                    "y": -7.07310318830423e-05,
                    "z": -0.011304100044071674
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4103,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.1791851818561554,
                "transform": {
                    "location": {
                        "x": -1302.48828125,
                        "y": 3087.628173828125,
                        "z": 346.27801513671875
                    },
                    "rotation": {
                        "roll": 0.0005629661027342081,
                        "pitch": -1.9094202518463135,
                        "yaw": 177.89605712890625
                    }
                },
                "velocity": {
                    "x": 0.005914082285016775,
                    "y": -0.00025967168039642274,
                    "z": -0.17908737063407898
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4101,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.211670875549316,
                "transform": {
                    "location": {
                        "x": -1366.6090087890625,
                        "y": 3102.3583984375,
                        "z": 345.5092468261719
                    },
                    "rotation": {
                        "roll": -0.0011291499249637127,
                        "pitch": -0.11618150770664215,
                        "yaw": -5.053652286529541
                    }
                },
                "velocity": {
                    "x": 8.179850578308105,
                    "y": -0.721881628036499,
                    "z": -0.021611427888274193
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4100,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.862839698791504,
                "transform": {
                    "location": {
                        "x": -1359.55029296875,
                        "y": 3108.760498046875,
                        "z": 345.5067138671875
                    },
                    "rotation": {
                        "roll": 0.0010936146136373281,
                        "pitch": 0.02543562278151512,
                        "yaw": -4.773959159851074
                    }
                },
                "velocity": {
                    "x": 7.8357696533203125,
                    "y": -0.6518499851226807,
                    "z": 0.007677097339183092
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4099,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.133077621459961,
                "transform": {
                    "location": {
                        "x": -1359.095947265625,
                        "y": 3105.21044921875,
                        "z": 345.5032653808594
                    },
                    "rotation": {
                        "roll": 0.0006623253575526178,
                        "pitch": 0.04915686696767807,
                        "yaw": -4.769319534301758
                    }
                },
                "velocity": {
                    "x": 8.1049222946167,
                    "y": -0.6761325597763062,
                    "z": 0.005726928357034922
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4097,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.004892349243164,
                "transform": {
                    "location": {
                        "x": -1326.916015625,
                        "y": 3099.407470703125,
                        "z": 345.76715087890625
                    },
                    "rotation": {
                        "roll": 0.003594133770093322,
                        "pitch": 0.867925763130188,
                        "yaw": -3.3124094009399414
                    }
                },
                "velocity": {
                    "x": 7.991130828857422,
                    "y": -0.4518548548221588,
                    "z": 0.12632308900356293
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4096,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.993500709533691,
                "transform": {
                    "location": {
                        "x": -1317.631591796875,
                        "y": 3105.915771484375,
                        "z": 345.96441650390625
                    },
                    "rotation": {
                        "roll": -0.00927734561264515,
                        "pitch": 1.3106995820999146,
                        "yaw": -2.8872992992401123
                    }
                },
                "velocity": {
                    "x": 7.982128620147705,
                    "y": -0.38899439573287964,
                    "z": 0.17423772811889648
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4095,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.020057678222656,
                "transform": {
                    "location": {
                        "x": -1317.3125,
                        "y": 3102.396484375,
                        "z": 345.9302978515625
                    },
                    "rotation": {
                        "roll": -0.005218510515987873,
                        "pitch": 1.3169833421707153,
                        "yaw": -2.852020502090454
                    }
                },
                "velocity": {
                    "x": 8.008599281311035,
                    "y": -0.38824862241744995,
                    "z": 0.18146440386772156
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4094,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.05384349822998,
                "transform": {
                    "location": {
                        "x": -1283.172119140625,
                        "y": 3097.68359375,
                        "z": 347.0370178222656
                    },
                    "rotation": {
                        "roll": -0.005401611793786287,
                        "pitch": 2.244823455810547,
                        "yaw": -1.3610841035842896
                    }
                },
                "velocity": {
                    "x": 8.045647621154785,
                    "y": -0.1875903308391571,
                    "z": 0.3110807240009308
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4093,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.976199150085449,
                "transform": {
                    "location": {
                        "x": -1274.5836181640625,
                        "y": 3104.486572265625,
                        "z": 347.376708984375
                    },
                    "rotation": {
                        "roll": -0.0005798314232379198,
                        "pitch": 2.401740312576294,
                        "yaw": -1.2852782011032104
                    }
                },
                "velocity": {
                    "x": 7.967206954956055,
                    "y": -0.17971937358379364,
                    "z": 0.33326712250709534
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4092,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.021769523620605,
                "transform": {
                    "location": {
                        "x": -1274.8314208984375,
                        "y": 3100.9921875,
                        "z": 347.3775329589844
                    },
                    "rotation": {
                        "roll": -0.00170898565556854,
                        "pitch": 2.416896343231201,
                        "yaw": -1.295959234237671
                    }
                },
                "velocity": {
                    "x": 8.01276969909668,
                    "y": -0.1802845299243927,
                    "z": 0.3343771994113922
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.6043201684951782,
                "transform": {
                    "location": {
                        "x": -1390.1375732421875,
                        "y": 3087.051513671875,
                        "z": 345.7029113769531
                    },
                    "rotation": {
                        "roll": -0.0011901857797056437,
                        "pitch": 0.8316574692726135,
                        "yaw": 173.68963623046875
                    }
                },
                "velocity": {
                    "x": -0.6015805006027222,
                    "y": 0.05694976821541786,
                    "z": 0.007777357008308172
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.288605690002441,
                "transform": {
                    "location": {
                        "x": -1403.004150390625,
                        "y": 3088.530029296875,
                        "z": 345.9402160644531
                    },
                    "rotation": {
                        "roll": 0.005656672175973654,
                        "pitch": 0.9026504158973694,
                        "yaw": 173.42691040039062
                    }
                },
                "velocity": {
                    "x": -4.260354042053223,
                    "y": 0.48247331380844116,
                    "z": 0.09349244832992554
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.6342652440071106,
                "transform": {
                    "location": {
                        "x": -1389.77197265625,
                        "y": 3090.53271484375,
                        "z": 345.70318603515625
                    },
                    "rotation": {
                        "roll": 0.00011918406380573288,
                        "pitch": 0.8335767388343811,
                        "yaw": 173.69090270996094
                    }
                },
                "velocity": {
                    "x": -0.6312643885612488,
                    "y": 0.061027757823467255,
                    "z": 0.008560323156416416
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.319543361663818,
                "transform": {
                    "location": {
                        "x": -1402.624755859375,
                        "y": 3092.00927734375,
                        "z": 345.9089660644531
                    },
                    "rotation": {
                        "roll": 0.0020533872302621603,
                        "pitch": 0.9032241702079773,
                        "yaw": 173.4199676513672
                    }
                },
                "velocity": {
                    "x": -4.291011810302734,
                    "y": 0.48882368206977844,
                    "z": 0.0819954127073288
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0017751266714185476,
                "transform": {
                    "location": {
                        "x": -1389.3671875,
                        "y": 3094.00927734375,
                        "z": 345.7039489746094
                    },
                    "rotation": {
                        "roll": -0.0011901881080120802,
                        "pitch": 0.8396077752113342,
                        "yaw": 173.67681884765625
                    }
                },
                "velocity": {
                    "x": -2.705633596633561e-05,
                    "y": -1.742560380080249e-05,
                    "z": -0.0017748349346220493
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.982851028442383,
                "transform": {
                    "location": {
                        "x": -1401.998779296875,
                        "y": 3095.46142578125,
                        "z": 345.8980407714844
                    },
                    "rotation": {
                        "roll": 0.00520694674924016,
                        "pitch": 0.9089341759681702,
                        "yaw": 173.416015625
                    }
                },
                "velocity": {
                    "x": -3.9566619396209717,
                    "y": 0.44857296347618103,
                    "z": 0.08192523568868637
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 1.0024994611740112,
        "expert_target_speed": 20.0,
        "target_point": [
            33.42384329538135,
            -0.27354444286517365
        ],
        "target_point_next": [
            38.187081010323155,
            -3.9537826534854084
        ]
    },
    "595": {
        "acceleration": [
            0.0792694091796875,
            -0.061321258544921875,
            0.015043020248413086
        ],
        "angular_velocity": [
            -0.13839693367481232,
            -0.05704202875494957,
            0.5003638863563538
        ],
        "forward_vector": [
            -0.9982814788818359,
            0.05804390832781792,
            -0.008061797358095646
        ],
        "right_vector": [
            -0.05804584175348282,
            -0.9983139038085938,
            5.858775693923235e-06
        ],
        "location": [
            -1344.207763671875,
            3083.2666015625,
            345.59124755859375
        ],
        "rotation": [
            -0.0003356940287631005,
            -0.46191200613975525,
            176.67234802246094
        ],
        "velocity": [
            -17.319673538208008,
            1.012216329574585,
            -0.1346873790025711
        ],
        "speed": 17.349226880986947,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 46.34206771850586,
        "front_vehicle_info": {
            "id": 4045,
            "type": "vehicle.ford.mustang",
            "location": [
                -1390.392822265625,
                3087.076416015625,
                345.70654296875
            ],
            "velocity": [
                -1.3914768695831299,
                0.13393621146678925,
                0.019492140039801598
            ],
            "speed_kmh": 5.032958020073241,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4105,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.13118593394756317,
                "transform": {
                    "location": {
                        "x": -1302.039794921875,
                        "y": 3080.607421875,
                        "z": 346.3934020996094
                    },
                    "rotation": {
                        "roll": -0.00045776591286994517,
                        "pitch": -1.8936493396759033,
                        "yaw": 177.93023681640625
                    }
                },
                "velocity": {
                    "x": -0.00442439503967762,
                    "y": 0.00018033335800282657,
                    "z": 0.13111117482185364
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4104,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.6088812947273254,
                "transform": {
                    "location": {
                        "x": -1302.0914306640625,
                        "y": 3084.111572265625,
                        "z": 346.36273193359375
                    },
                    "rotation": {
                        "roll": -0.008087158203125,
                        "pitch": -1.8346843719482422,
                        "yaw": 177.96701049804688
                    }
                },
                "velocity": {
                    "x": -0.5992105603218079,
                    "y": 0.011667202226817608,
                    "z": 0.10745702683925629
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4103,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.39487460255622864,
                "transform": {
                    "location": {
                        "x": -1302.4942626953125,
                        "y": 3087.62841796875,
                        "z": 346.34405517578125
                    },
                    "rotation": {
                        "roll": 0.000743790646083653,
                        "pitch": -1.896203875541687,
                        "yaw": 177.89649963378906
                    }
                },
                "velocity": {
                    "x": -0.09764344990253448,
                    "y": 0.0034754748921841383,
                    "z": 0.38259589672088623
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4101,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.899598121643066,
                "transform": {
                    "location": {
                        "x": -1364.6182861328125,
                        "y": 3102.182861328125,
                        "z": 345.5050354003906
                    },
                    "rotation": {
                        "roll": -0.0003356936213094741,
                        "pitch": -0.13510796427726746,
                        "yaw": -5.045595169067383
                    }
                },
                "velocity": {
                    "x": 7.868973255157471,
                    "y": -0.6947082281112671,
                    "z": -0.017185773700475693
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4100,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.096338272094727,
                "transform": {
                    "location": {
                        "x": -1357.568603515625,
                        "y": 3108.59619140625,
                        "z": 345.50921630859375
                    },
                    "rotation": {
                        "roll": -0.004241942893713713,
                        "pitch": 0.10182445496320724,
                        "yaw": -4.710541725158691
                    }
                },
                "velocity": {
                    "x": 8.069188117980957,
                    "y": -0.662300705909729,
                    "z": 0.016132650896906853
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4099,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.086004257202148,
                "transform": {
                    "location": {
                        "x": -1357.06298828125,
                        "y": 3105.04248046875,
                        "z": 345.5067138671875
                    },
                    "rotation": {
                        "roll": 8.1719845184125e-05,
                        "pitch": 0.12780649960041046,
                        "yaw": -4.713380813598633
                    }
                },
                "velocity": {
                    "x": 8.05912971496582,
                    "y": -0.6582823991775513,
                    "z": 0.023686904460191727
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4097,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.050738334655762,
                "transform": {
                    "location": {
                        "x": -1324.9107666015625,
                        "y": 3099.2939453125,
                        "z": 345.7985534667969
                    },
                    "rotation": {
                        "roll": 0.0004310871590860188,
                        "pitch": 0.941719114780426,
                        "yaw": -3.246063470840454
                    }
                },
                "velocity": {
                    "x": 8.036969184875488,
                    "y": -0.45162180066108704,
                    "z": 0.13249777257442474
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4096,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.051572799682617,
                "transform": {
                    "location": {
                        "x": -1315.62548828125,
                        "y": 3105.818115234375,
                        "z": 346.0108947753906
                    },
                    "rotation": {
                        "roll": -0.004150390625,
                        "pitch": 1.3591256141662598,
                        "yaw": -2.781891107559204
                    }
                },
                "velocity": {
                    "x": 8.039752960205078,
                    "y": -0.386441707611084,
                    "z": 0.202137753367424
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4095,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.053726196289062,
                "transform": {
                    "location": {
                        "x": -1315.3052978515625,
                        "y": 3102.299072265625,
                        "z": 345.9776611328125
                    },
                    "rotation": {
                        "roll": -0.0018615730805322528,
                        "pitch": 1.3715224266052246,
                        "yaw": -2.766998529434204
                    }
                },
                "velocity": {
                    "x": 8.041871070861816,
                    "y": -0.3866347372531891,
                    "z": 0.20331647992134094
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4094,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.999597549438477,
                "transform": {
                    "location": {
                        "x": -1281.167724609375,
                        "y": 3097.63671875,
                        "z": 347.115234375
                    },
                    "rotation": {
                        "roll": -0.0014648446813225746,
                        "pitch": 2.237200975418091,
                        "yaw": -1.3358458280563354
                    }
                },
                "velocity": {
                    "x": 7.991361141204834,
                    "y": -0.18483687937259674,
                    "z": 0.3123205602169037
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4093,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1272.540771484375,
                        "y": 3104.412841796875,
                        "z": 347.46441650390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.478156328201294,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4092,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1272.7979736328125,
                        "y": 3100.926513671875,
                        "z": 347.4625244140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.478156328201294,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.3980438709259033,
                "transform": {
                    "location": {
                        "x": -1390.392822265625,
                        "y": 3087.076416015625,
                        "z": 345.70654296875
                    },
                    "rotation": {
                        "roll": 0.0004885542439296842,
                        "pitch": 0.8383305668830872,
                        "yaw": 173.75741577148438
                    }
                },
                "velocity": {
                    "x": -1.3914768695831299,
                    "y": 0.13393621146678925,
                    "z": 0.019492140039801598
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.020297050476074,
                "transform": {
                    "location": {
                        "x": -1404.0360107421875,
                        "y": 3088.6474609375,
                        "z": 345.95965576171875
                    },
                    "rotation": {
                        "roll": 0.007416748907417059,
                        "pitch": 0.880062997341156,
                        "yaw": 173.47572326660156
                    }
                },
                "velocity": {
                    "x": -3.9941985607147217,
                    "y": 0.4523214101791382,
                    "z": 0.06760124117136002
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.3750391006469727,
                "transform": {
                    "location": {
                        "x": -1390.0279541015625,
                        "y": 3090.55859375,
                        "z": 345.7068786621094
                    },
                    "rotation": {
                        "roll": 0.0011317550670355558,
                        "pitch": 0.8396419286727905,
                        "yaw": 173.86563110351562
                    }
                },
                "velocity": {
                    "x": -1.3689496517181396,
                    "y": 0.1278594732284546,
                    "z": 0.019006861373782158
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.378966808319092,
                "transform": {
                    "location": {
                        "x": -1403.6658935546875,
                        "y": 3092.127685546875,
                        "z": 345.9270935058594
                    },
                    "rotation": {
                        "roll": 0.006071407813578844,
                        "pitch": 0.9190428853034973,
                        "yaw": 173.470458984375
                    }
                },
                "velocity": {
                    "x": -4.35041618347168,
                    "y": 0.4941587746143341,
                    "z": 0.07098211348056793
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.2422713041305542,
                "transform": {
                    "location": {
                        "x": -1389.5286865234375,
                        "y": 3094.025146484375,
                        "z": 345.7049560546875
                    },
                    "rotation": {
                        "roll": -0.012817380018532276,
                        "pitch": 1.1515971422195435,
                        "yaw": 173.78582763671875
                    }
                },
                "velocity": {
                    "x": -1.2364345788955688,
                    "y": 0.11897889524698257,
                    "z": 0.01765265502035618
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.970407247543335,
                "transform": {
                    "location": {
                        "x": -1402.9862060546875,
                        "y": 3095.57373046875,
                        "z": 345.9156188964844
                    },
                    "rotation": {
                        "roll": 0.007093551103025675,
                        "pitch": 0.9077525734901428,
                        "yaw": 173.4760284423828
                    }
                },
                "velocity": {
                    "x": -3.944711923599243,
                    "y": 0.4464035630226135,
                    "z": 0.0640830397605896
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 1.0000444650650024,
        "expert_target_speed": 17.478359295539995,
        "target_point": [
            29.08338356215403,
            -0.3519808626435408
        ],
        "target_point_next": [
            33.83756051874488,
            -4.0439164364819815
        ]
    },
    "600": {
        "acceleration": [
            0.09380340576171875,
            0.0330662727355957,
            0.068453848361969
        ],
        "angular_velocity": [
            0.06120990961790085,
            0.5053756833076477,
            -0.38853657245635986
        ],
        "forward_vector": [
            -0.9982304573059082,
            0.05899190157651901,
            -0.007473279722034931
        ],
        "right_vector": [
            -0.0589931420981884,
            -0.9982583522796631,
            -5.5020205763867125e-05
        ],
        "location": [
            -1348.53515625,
            3083.521240234375,
            345.5577697753906
        ],
        "rotation": [
            0.00315251387655735,
            -0.4281913638114929,
            176.61795043945312
        ],
        "velocity": [
            -17.29715347290039,
            1.0237897634506226,
            -0.12548303604125977
        ],
        "speed": 17.327425190859035,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 42.459075927734375,
        "front_vehicle_info": {
            "id": 4045,
            "type": "vehicle.ford.mustang",
            "location": [
                -1390.841064453125,
                3087.12109375,
                345.7130432128906
            ],
            "velocity": [
                -2.161824941635132,
                0.22903409600257874,
                0.03267976641654968
            ],
            "speed_kmh": 7.827009080518872,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4105,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8302146196365356,
                "transform": {
                    "location": {
                        "x": -1302.170166015625,
                        "y": 3080.611572265625,
                        "z": 346.403076171875
                    },
                    "rotation": {
                        "roll": 0.0007176203653216362,
                        "pitch": -2.0453479290008545,
                        "yaw": 177.98829650878906
                    }
                },
                "velocity": {
                    "x": -1.8287464380264282,
                    "y": 0.04983636736869812,
                    "z": -0.05374244973063469
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4104,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.810485601425171,
                "transform": {
                    "location": {
                        "x": -1302.418701171875,
                        "y": 3084.120849609375,
                        "z": 346.3713073730469
                    },
                    "rotation": {
                        "roll": -0.013214107602834702,
                        "pitch": -1.5296275615692139,
                        "yaw": 178.0789031982422
                    }
                },
                "velocity": {
                    "x": -1.8097267150878906,
                    "y": 0.05055230110883713,
                    "z": -0.013851937837898731
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4103,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.8725467920303345,
                "transform": {
                    "location": {
                        "x": -1302.6053466796875,
                        "y": 3087.632080078125,
                        "z": 346.3939514160156
                    },
                    "rotation": {
                        "roll": -0.006683350075036287,
                        "pitch": -1.755064845085144,
                        "yaw": 177.98297119140625
                    }
                },
                "velocity": {
                    "x": -0.8718409538269043,
                    "y": 0.02403954602777958,
                    "z": 0.025561342015862465
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4101,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.15220832824707,
                "transform": {
                    "location": {
                        "x": -1362.61962890625,
                        "y": 3102.00732421875,
                        "z": 345.5026550292969
                    },
                    "rotation": {
                        "roll": -0.0013427732046693563,
                        "pitch": -0.0283247921615839,
                        "yaw": -4.996065616607666
                    }
                },
                "velocity": {
                    "x": 8.12193489074707,
                    "y": -0.7019045948982239,
                    "z": -0.0023340987972915173
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4100,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.08151626586914,
                "transform": {
                    "location": {
                        "x": -1355.54248046875,
                        "y": 3108.430908203125,
                        "z": 345.5137939453125
                    },
                    "rotation": {
                        "roll": -0.0034179685171693563,
                        "pitch": 0.21863433718681335,
                        "yaw": -4.669191360473633
                    }
                },
                "velocity": {
                    "x": 8.054901123046875,
                    "y": -0.6550955176353455,
                    "z": 0.01769927889108658
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4099,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.01426887512207,
                "transform": {
                    "location": {
                        "x": -1355.063720703125,
                        "y": 3104.87939453125,
                        "z": 345.5120544433594
                    },
                    "rotation": {
                        "roll": -0.0004577638756018132,
                        "pitch": 0.22900940477848053,
                        "yaw": -4.645449161529541
                    }
                },
                "velocity": {
                    "x": 7.988042831420898,
                    "y": -0.6471426486968994,
                    "z": 0.029810313135385513
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4097,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.982323169708252,
                "transform": {
                    "location": {
                        "x": -1322.910888671875,
                        "y": 3099.18359375,
                        "z": 345.8346862792969
                    },
                    "rotation": {
                        "roll": 0.005310658365488052,
                        "pitch": 1.0472524166107178,
                        "yaw": -3.1434943675994873
                    }
                },
                "velocity": {
                    "x": 7.969794273376465,
                    "y": -0.42121973633766174,
                    "z": 0.1497785598039627
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4096,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.982616424560547,
                "transform": {
                    "location": {
                        "x": -1313.62451171875,
                        "y": 3105.721923828125,
                        "z": 346.0601806640625
                    },
                    "rotation": {
                        "roll": -0.005157472100108862,
                        "pitch": 1.4897392988204956,
                        "yaw": -2.742340326309204
                    }
                },
                "velocity": {
                    "x": 7.971059322357178,
                    "y": -0.3797650933265686,
                    "z": 0.20038709044456482
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4095,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.007067680358887,
                "transform": {
                    "location": {
                        "x": -1313.3004150390625,
                        "y": 3102.2041015625,
                        "z": 346.02740478515625
                    },
                    "rotation": {
                        "roll": -0.007019042037427425,
                        "pitch": 1.5015828609466553,
                        "yaw": -2.692444086074829
                    }
                },
                "velocity": {
                    "x": 7.996310234069824,
                    "y": -0.3599683940410614,
                    "z": 0.20635053515434265
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4094,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.051011085510254,
                "transform": {
                    "location": {
                        "x": -1279.163330078125,
                        "y": 3097.590576171875,
                        "z": 347.19329833984375
                    },
                    "rotation": {
                        "roll": -0.002990724053233862,
                        "pitch": 2.2348036766052246,
                        "yaw": -1.3212281465530396
                    }
                },
                "velocity": {
                    "x": 8.042717933654785,
                    "y": -0.18708886206150055,
                    "z": 0.31379014253616333
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4093,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1270.460693359375,
                        "y": 3104.319580078125,
                        "z": 347.5550231933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.478156328201294,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4092,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1270.718505859375,
                        "y": 3100.83056640625,
                        "z": 347.5495300292969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.478156328201294,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.1741693019866943,
                "transform": {
                    "location": {
                        "x": -1390.841064453125,
                        "y": 3087.12109375,
                        "z": 345.7130432128906
                    },
                    "rotation": {
                        "roll": 0.003197908401489258,
                        "pitch": 0.842968225479126,
                        "yaw": 173.83612060546875
                    }
                },
                "velocity": {
                    "x": -2.161824941635132,
                    "y": 0.22903409600257874,
                    "z": 0.03267976641654968
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.028907775878906,
                "transform": {
                    "location": {
                        "x": -1405.15185546875,
                        "y": 3088.77392578125,
                        "z": 345.97698974609375
                    },
                    "rotation": {
                        "roll": 0.007633898872882128,
                        "pitch": 0.9769287109375,
                        "yaw": 173.50584411621094
                    }
                },
                "velocity": {
                    "x": -4.996394157409668,
                    "y": 0.5654356479644775,
                    "z": 0.07899724692106247
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.162883996963501,
                "transform": {
                    "location": {
                        "x": -1390.478271484375,
                        "y": 3090.603271484375,
                        "z": 345.71337890625
                    },
                    "rotation": {
                        "roll": 0.005871730390936136,
                        "pitch": 0.845632016658783,
                        "yaw": 173.998779296875
                    }
                },
                "velocity": {
                    "x": -2.150970697402954,
                    "y": 0.22428148984909058,
                    "z": 0.033023614436388016
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.290609836578369,
                "transform": {
                    "location": {
                        "x": -1404.899658203125,
                        "y": 3092.267822265625,
                        "z": 345.94732666015625
                    },
                    "rotation": {
                        "roll": 0.008181659504771233,
                        "pitch": 1.0655436515808105,
                        "yaw": 173.5135498046875
                    }
                },
                "velocity": {
                    "x": -5.256345748901367,
                    "y": 0.5953032374382019,
                    "z": 0.08365434408187866
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.0260889530181885,
                "transform": {
                    "location": {
                        "x": -1389.9368896484375,
                        "y": 3094.065185546875,
                        "z": 345.710693359375
                    },
                    "rotation": {
                        "roll": -0.01092529110610485,
                        "pitch": 1.202331781387329,
                        "yaw": 173.94570922851562
                    }
                },
                "velocity": {
                    "x": -2.016561508178711,
                    "y": 0.19412654638290405,
                    "z": 0.02883172035217285
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.373261451721191,
                "transform": {
                    "location": {
                        "x": -1404.0010986328125,
                        "y": 3095.68896484375,
                        "z": 345.93170166015625
                    },
                    "rotation": {
                        "roll": 0.00739343510940671,
                        "pitch": 0.9198147058486938,
                        "yaw": 173.51309204101562
                    }
                },
                "velocity": {
                    "x": -4.345128536224365,
                    "y": 0.49048659205436707,
                    "z": 0.0685124546289444
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.9613109827041626,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9997761845588684,
        "expert_target_speed": 17.41308139458848,
        "target_point": [
            24.7488267455377,
            -0.3254618069578321
        ],
        "target_point_next": [
            29.50650661913256,
            -4.012882183907504
        ]
    },
    "605": {
        "acceleration": [
            0.11821746826171875,
            0.11580944061279297,
            0.32518118619918823
        ],
        "angular_velocity": [
            0.09391893446445465,
            0.6594292521476746,
            -0.3697230815887451
        ],
        "forward_vector": [
            -0.9981518387794495,
            0.06044626608490944,
            -0.00626381067559123
        ],
        "right_vector": [
            -0.060445599257946014,
            -0.9981714487075806,
            -0.00029563074349425733
        ],
        "location": [
            -1352.8570556640625,
            3083.779296875,
            345.5287780761719
        ],
        "rotation": [
            0.016938725486397743,
            -0.3588922619819641,
            176.5345001220703
        ],
        "velocity": [
            -17.271881103515625,
            1.044150948524475,
            -0.09545227885246277
        ],
        "speed": 17.30341376888632,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 38.563838958740234,
        "front_vehicle_info": {
            "id": 4045,
            "type": "vehicle.ford.mustang",
            "location": [
                -1391.271484375,
                3087.165283203125,
                345.7200012207031
            ],
            "velocity": [
                -0.005242900922894478,
                0.003028769511729479,
                0.00037610947038047016
            ],
            "speed_kmh": 0.021839545662931923,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4105,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.213968276977539,
                "transform": {
                    "location": {
                        "x": -1302.8267822265625,
                        "y": 3080.630126953125,
                        "z": 346.3812561035156
                    },
                    "rotation": {
                        "roll": -0.0037231435999274254,
                        "pitch": -2.0524239540100098,
                        "yaw": 178.12088012695312
                    }
                },
                "velocity": {
                    "x": -3.210972547531128,
                    "y": 0.08594439923763275,
                    "z": -0.10891323536634445
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4104,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.8614206314086914,
                "transform": {
                    "location": {
                        "x": -1302.9951171875,
                        "y": 3084.137451171875,
                        "z": 346.3585205078125
                    },
                    "rotation": {
                        "roll": -0.0175781212747097,
                        "pitch": -1.4644129276275635,
                        "yaw": 178.16757202148438
                    }
                },
                "velocity": {
                    "x": -2.8591997623443604,
                    "y": 0.07925151288509369,
                    "z": -0.0801502913236618
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4103,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.482884168624878,
                "transform": {
                    "location": {
                        "x": -1302.8758544921875,
                        "y": 3087.64013671875,
                        "z": 346.3769836425781
                    },
                    "rotation": {
                        "roll": -0.009826654568314552,
                        "pitch": -1.732115387916565,
                        "yaw": 178.0546417236328
                    }
                },
                "velocity": {
                    "x": -1.4781969785690308,
                    "y": 0.040207523852586746,
                    "z": -0.11073683202266693
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4101,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.073484420776367,
                "transform": {
                    "location": {
                        "x": -1360.591064453125,
                        "y": 3101.832763671875,
                        "z": 345.50213623046875
                    },
                    "rotation": {
                        "roll": -0.0008544920128770173,
                        "pitch": 0.055187925696372986,
                        "yaw": -4.902651309967041
                    }
                },
                "velocity": {
                    "x": 8.044241905212402,
                    "y": -0.6864956617355347,
                    "z": 0.006258516106754541
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4100,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.000619888305664,
                "transform": {
                    "location": {
                        "x": -1353.5452880859375,
                        "y": 3108.26904296875,
                        "z": 345.5210876464844
                    },
                    "rotation": {
                        "roll": -0.0018615720327943563,
                        "pitch": 0.21348437666893005,
                        "yaw": -4.615206241607666
                    }
                },
                "velocity": {
                    "x": 7.974490165710449,
                    "y": -0.6452465057373047,
                    "z": 0.03300498053431511
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4099,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.089228630065918,
                "transform": {
                    "location": {
                        "x": -1353.054931640625,
                        "y": 3104.716796875,
                        "z": 345.52001953125
                    },
                    "rotation": {
                        "roll": -0.0008850088925100863,
                        "pitch": 0.22222702205181122,
                        "yaw": -4.608338356018066
                    }
                },
                "velocity": {
                    "x": 8.063569068908691,
                    "y": -0.6428182721138,
                    "z": 0.03537844493985176
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4097,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.051156044006348,
                "transform": {
                    "location": {
                        "x": -1320.908935546875,
                        "y": 3099.07763671875,
                        "z": 345.87213134765625
                    },
                    "rotation": {
                        "roll": 0.0011093842331320047,
                        "pitch": 1.1210594177246094,
                        "yaw": -3.039337635040283
                    }
                },
                "velocity": {
                    "x": 8.038615226745605,
                    "y": -0.42079681158065796,
                    "z": 0.15722467005252838
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4096,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.038775444030762,
                "transform": {
                    "location": {
                        "x": -1311.6243896484375,
                        "y": 3105.630615234375,
                        "z": 346.11260986328125
                    },
                    "rotation": {
                        "roll": -0.004608155228197575,
                        "pitch": 1.5270594358444214,
                        "yaw": -2.596801996231079
                    }
                },
                "velocity": {
                    "x": 8.027849197387695,
                    "y": -0.35469943284988403,
                    "z": 0.22301103174686432
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4095,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.056916236877441,
                "transform": {
                    "location": {
                        "x": -1311.2940673828125,
                        "y": 3102.114013671875,
                        "z": 346.0809326171875
                    },
                    "rotation": {
                        "roll": -0.0027771040331572294,
                        "pitch": 1.5446267127990723,
                        "yaw": -2.5578620433807373
                    }
                },
                "velocity": {
                    "x": 8.045880317687988,
                    "y": -0.3547101616859436,
                    "z": 0.22778524458408356
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4094,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1277.083740234375,
                        "y": 3097.497802734375,
                        "z": 347.2818603515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.3732993602752686,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.006066540721803904,
                "transform": {
                    "location": {
                        "x": -1391.271484375,
                        "y": 3087.165283203125,
                        "z": 345.7200012207031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8046645522117615,
                        "yaw": 173.56753540039062
                    }
                },
                "velocity": {
                    "x": -0.005242900922894478,
                    "y": 0.003028769511729479,
                    "z": 0.00037610947038047016
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.322662830352783,
                "transform": {
                    "location": {
                        "x": -1406.457275390625,
                        "y": 3088.92431640625,
                        "z": 345.99822998046875
                    },
                    "rotation": {
                        "roll": 0.021044695749878883,
                        "pitch": 0.9520121812820435,
                        "yaw": 173.4555206298828
                    }
                },
                "velocity": {
                    "x": -5.283865928649902,
                    "y": 0.6359403133392334,
                    "z": 0.08414293080568314
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.7634432315826416,
                "transform": {
                    "location": {
                        "x": -1390.951171875,
                        "y": 3090.653076171875,
                        "z": 345.7208557128906
                    },
                    "rotation": {
                        "roll": 0.005926479585468769,
                        "pitch": 0.8398604989051819,
                        "yaw": 173.9934539794922
                    }
                },
                "velocity": {
                    "x": -1.753472089767456,
                    "y": 0.18529897928237915,
                    "z": 0.02705298364162445
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.495056629180908,
                "transform": {
                    "location": {
                        "x": -1406.240966796875,
                        "y": 3092.42333984375,
                        "z": 345.9685363769531
                    },
                    "rotation": {
                        "roll": 0.025962552055716515,
                        "pitch": 0.9867983460426331,
                        "yaw": 173.39552307128906
                    }
                },
                "velocity": {
                    "x": -5.455747127532959,
                    "y": 0.6502691507339478,
                    "z": 0.08730392158031464
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.031112756580114365,
                "transform": {
                    "location": {
                        "x": -1390.361572265625,
                        "y": 3094.11083984375,
                        "z": 345.71917724609375
                    },
                    "rotation": {
                        "roll": 0.014104650355875492,
                        "pitch": 0.6328852772712708,
                        "yaw": 174.04904174804688
                    }
                },
                "velocity": {
                    "x": -0.030538195744156837,
                    "y": 0.0056113312020897865,
                    "z": 0.0019837275613099337
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.268947601318359,
                "transform": {
                    "location": {
                        "x": -1405.2039794921875,
                        "y": 3095.825439453125,
                        "z": 345.950927734375
                    },
                    "rotation": {
                        "roll": 0.012319963425397873,
                        "pitch": 0.9389119148254395,
                        "yaw": 173.51100158691406
                    }
                },
                "velocity": {
                    "x": -5.232422828674316,
                    "y": 0.6135157346725464,
                    "z": 0.08459552377462387
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.4342462122440338,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9996067881584167,
        "expert_target_speed": 17.221461367275822,
        "target_point": [
            20.419679286346796,
            -0.29308203827463064
        ],
        "target_point_next": [
            25.182723958560047,
            -3.973570085593119
        ]
    },
    "610": {
        "acceleration": [
            0.217742919921875,
            0.2589106559753418,
            0.09035855531692505
        ],
        "angular_velocity": [
            0.11216501146554947,
            0.003184261964634061,
            -1.0505117177963257
        ],
        "forward_vector": [
            -0.9979385137557983,
            0.06408374756574631,
            -0.003450863528996706
        ],
        "right_vector": [
            -0.0640806034207344,
            -0.997944176197052,
            -0.0010119961807504296
        ],
        "location": [
            -1357.172119140625,
            3084.04736328125,
            345.5094909667969
        ],
        "rotation": [
            0.05798346549272537,
            -0.19772030413150787,
            176.3257293701172
        ],
        "velocity": [
            -17.233430862426758,
            1.1031711101531982,
            -0.05752195045351982
        ],
        "speed": 17.268703651065408,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 34.30425262451172,
        "front_vehicle_info": {
            "id": 4045,
            "type": "vehicle.ford.mustang",
            "location": [
                -1391.3331298828125,
                3087.171875,
                345.720703125
            ],
            "velocity": [
                -0.5725087523460388,
                0.06107732281088829,
                0.009110583923757076
            ],
            "speed_kmh": 2.072986514292213,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4105,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.399815559387207,
                "transform": {
                    "location": {
                        "x": -1303.784423828125,
                        "y": 3080.65673828125,
                        "z": 346.3492431640625
                    },
                    "rotation": {
                        "roll": 0.0057306778617203236,
                        "pitch": -1.9899823665618896,
                        "yaw": 178.25103759765625
                    }
                },
                "velocity": {
                    "x": -4.395892143249512,
                    "y": 0.11719948798418045,
                    "z": -0.14413025975227356
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4104,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.311598777770996,
                "transform": {
                    "location": {
                        "x": -1303.9014892578125,
                        "y": 3084.162841796875,
                        "z": 346.33013916015625
                    },
                    "rotation": {
                        "roll": -0.0266418419778347,
                        "pitch": -1.3066356182098389,
                        "yaw": 178.28843688964844
                    }
                },
                "velocity": {
                    "x": -4.307827472686768,
                    "y": 0.11737706512212753,
                    "z": -0.13686001300811768
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4103,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.872774600982666,
                "transform": {
                    "location": {
                        "x": -1303.4058837890625,
                        "y": 3087.6552734375,
                        "z": 346.34881591796875
                    },
                    "rotation": {
                        "roll": -0.01608276180922985,
                        "pitch": -1.5907578468322754,
                        "yaw": 178.12982177734375
                    }
                },
                "velocity": {
                    "x": -2.8697469234466553,
                    "y": 0.07690712064504623,
                    "z": -0.10711289942264557
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4101,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.00600528717041,
                "transform": {
                    "location": {
                        "x": -1358.5960693359375,
                        "y": 3101.662841796875,
                        "z": 345.5041198730469
                    },
                    "rotation": {
                        "roll": -0.000274658203125,
                        "pitch": 0.04936177283525467,
                        "yaw": -4.851778507232666
                    }
                },
                "velocity": {
                    "x": 7.977916717529297,
                    "y": -0.6699023842811584,
                    "z": 0.014153242111206055
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4100,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.073038101196289,
                "transform": {
                    "location": {
                        "x": -1351.5399169921875,
                        "y": 3108.109375,
                        "z": 345.5306701660156
                    },
                    "rotation": {
                        "roll": -0.007080077659338713,
                        "pitch": 0.3021334111690521,
                        "yaw": -4.534883499145508
                    }
                },
                "velocity": {
                    "x": 8.04813003540039,
                    "y": -0.6323171257972717,
                    "z": 0.041461993008852005
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4099,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.065717697143555,
                "transform": {
                    "location": {
                        "x": -1351.0396728515625,
                        "y": 3104.557861328125,
                        "z": 345.53045654296875
                    },
                    "rotation": {
                        "roll": -0.0009155282750725746,
                        "pitch": 0.340095579624176,
                        "yaw": -4.490023136138916
                    }
                },
                "velocity": {
                    "x": 8.041343688964844,
                    "y": -0.6246911287307739,
                    "z": 0.04865737631917
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4097,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.984089374542236,
                "transform": {
                    "location": {
                        "x": -1318.9075927734375,
                        "y": 3098.97265625,
                        "z": 345.9143981933594
                    },
                    "rotation": {
                        "roll": -0.0014648393262177706,
                        "pitch": 1.2177133560180664,
                        "yaw": -3.001739740371704
                    }
                },
                "velocity": {
                    "x": 7.971343040466309,
                    "y": -0.41497802734375,
                    "z": 0.17654159665107727
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4096,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.998891353607178,
                "transform": {
                    "location": {
                        "x": -1309.6209716796875,
                        "y": 3105.542236328125,
                        "z": 346.1679992675781
                    },
                    "rotation": {
                        "roll": 0.014510704204440117,
                        "pitch": 1.6481928825378418,
                        "yaw": -2.522857904434204
                    }
                },
                "velocity": {
                    "x": 7.988080978393555,
                    "y": -0.34941044449806213,
                    "z": 0.22525258362293243
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4095,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.004992485046387,
                "transform": {
                    "location": {
                        "x": -1309.2886962890625,
                        "y": 3102.025146484375,
                        "z": 346.13690185546875
                    },
                    "rotation": {
                        "roll": -0.003784182947129011,
                        "pitch": 1.6795570850372314,
                        "yaw": -2.52215576171875
                    }
                },
                "velocity": {
                    "x": 7.993884563446045,
                    "y": -0.35247746109962463,
                    "z": 0.23125185072422028
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.5758295655250549,
                "transform": {
                    "location": {
                        "x": -1391.3331298828125,
                        "y": 3087.171875,
                        "z": 345.720703125
                    },
                    "rotation": {
                        "roll": -0.001220701728016138,
                        "pitch": 0.8331259489059448,
                        "yaw": 173.56765747070312
                    }
                },
                "velocity": {
                    "x": -0.5725087523460388,
                    "y": 0.06107732281088829,
                    "z": 0.009110583923757076
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.474730014801025,
                "transform": {
                    "location": {
                        "x": -1407.8609619140625,
                        "y": 3089.092529296875,
                        "z": 346.02001953125
                    },
                    "rotation": {
                        "roll": 0.011567888781428337,
                        "pitch": 0.9967772364616394,
                        "yaw": 173.2261962890625
                    }
                },
                "velocity": {
                    "x": -6.4265031814575195,
                    "y": 0.782120406627655,
                    "z": 0.10234098136425018
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.4382710456848145,
                "transform": {
                    "location": {
                        "x": -1391.4705810546875,
                        "y": 3090.707763671875,
                        "z": 345.7285461425781
                    },
                    "rotation": {
                        "roll": 0.007363999728113413,
                        "pitch": 0.870090901851654,
                        "yaw": 173.9882354736328
                    }
                },
                "velocity": {
                    "x": -2.4245283603668213,
                    "y": 0.25589466094970703,
                    "z": 0.036686018109321594
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.809760570526123,
                "transform": {
                    "location": {
                        "x": -1407.900634765625,
                        "y": 3092.623046875,
                        "z": 345.99505615234375
                    },
                    "rotation": {
                        "roll": 0.019536638632416725,
                        "pitch": 1.2878252267837524,
                        "yaw": 173.18348693847656
                    }
                },
                "velocity": {
                    "x": -7.7522101402282715,
                    "y": 0.93829345703125,
                    "z": 0.12329511344432831
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.907670795917511,
                "transform": {
                    "location": {
                        "x": -1390.470703125,
                        "y": 3094.122314453125,
                        "z": 345.7204895019531
                    },
                    "rotation": {
                        "roll": 0.007309596054255962,
                        "pitch": 0.7464235424995422,
                        "yaw": 174.04501342773438
                    }
                },
                "velocity": {
                    "x": -0.9025329947471619,
                    "y": 0.09530516713857651,
                    "z": 0.01474276464432478
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.548923969268799,
                "transform": {
                    "location": {
                        "x": -1406.5224609375,
                        "y": 3095.98095703125,
                        "z": 345.9720764160156
                    },
                    "rotation": {
                        "roll": 0.010582507587969303,
                        "pitch": 0.9245480298995972,
                        "yaw": 173.32992553710938
                    }
                },
                "velocity": {
                    "x": -5.5083489418029785,
                    "y": 0.6640838384628296,
                    "z": 0.08741355687379837
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.4339998960494995,
        "expert_control_brake": 0.0,
        "expert_control_steer": 1.0001261234283447,
        "expert_target_speed": 17.081445050311082,
        "target_point": [
            16.097239033264774,
            -0.22768214162103617
        ],
        "target_point_next": [
            20.87366371243746,
            -3.890789306330168
        ]
    },
    "615": {
        "acceleration": [
            0.5849838256835938,
            0.2859973907470703,
            0.23233768343925476
        ],
        "angular_velocity": [
            0.08478926867246628,
            0.21363136172294617,
            -1.1072086095809937
        ],
        "forward_vector": [
            -0.9976257085800171,
            0.06886428594589233,
            -0.0008063314598985016
        ],
        "right_vector": [
            -0.0688629150390625,
            -0.9976248145103455,
            -0.0016247370513156056
        ],
        "location": [
            -1361.4703369140625,
            3084.331787109375,
            345.5007629394531
        ],
        "rotation": [
            0.09309064596891403,
            -0.04619939625263214,
            176.05123901367188
        ],
        "velocity": [
            -17.129140853881836,
            1.1738739013671875,
            -0.011165952309966087
        ],
        "speed": 17.1693170023864,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 30.238901138305664,
        "front_vehicle_info": {
            "id": 4045,
            "type": "vehicle.ford.mustang",
            "location": [
                -1391.572265625,
                3087.197998046875,
                345.72418212890625
            ],
            "velocity": [
                -1.282051682472229,
                0.1351623684167862,
                0.01854265108704567
            ],
            "speed_kmh": 4.641444709472166,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4105,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.228145122528076,
                "transform": {
                    "location": {
                        "x": -1305.021728515625,
                        "y": 3080.69091796875,
                        "z": 346.30926513671875
                    },
                    "rotation": {
                        "roll": 0.000592114869505167,
                        "pitch": -1.926604986190796,
                        "yaw": 178.35342407226562
                    }
                },
                "velocity": {
                    "x": -5.223620414733887,
                    "y": 0.13949742913246155,
                    "z": -0.16683068871498108
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4104,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.42467737197876,
                "transform": {
                    "location": {
                        "x": -1305.1473388671875,
                        "y": 3084.19677734375,
                        "z": 346.2903137207031
                    },
                    "rotation": {
                        "roll": -0.0305175743997097,
                        "pitch": -1.2748342752456665,
                        "yaw": 178.3936004638672
                    }
                },
                "velocity": {
                    "x": -5.419946670532227,
                    "y": 0.14521798491477966,
                    "z": -0.17382200062274933
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4103,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.908331394195557,
                "transform": {
                    "location": {
                        "x": -1304.3780517578125,
                        "y": 3087.68212890625,
                        "z": 346.3163146972656
                    },
                    "rotation": {
                        "roll": -0.02517700009047985,
                        "pitch": -1.3849232196807861,
                        "yaw": 178.2795867919922
                    }
                },
                "velocity": {
                    "x": -4.904372215270996,
                    "y": 0.12872102856636047,
                    "z": -0.14927785098552704
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4101,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.122441291809082,
                "transform": {
                    "location": {
                        "x": -1356.581787109375,
                        "y": 3101.494873046875,
                        "z": 345.508544921875
                    },
                    "rotation": {
                        "roll": -0.0007629396859556437,
                        "pitch": 0.18066532909870148,
                        "yaw": -4.733767032623291
                    }
                },
                "velocity": {
                    "x": 8.095216751098633,
                    "y": -0.6640408039093018,
                    "z": 0.02397601120173931
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4100,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.039015769958496,
                "transform": {
                    "location": {
                        "x": -1349.5301513671875,
                        "y": 3107.953125,
                        "z": 345.5417175292969
                    },
                    "rotation": {
                        "roll": -0.004882812034338713,
                        "pitch": 0.4029606580734253,
                        "yaw": -4.420350551605225
                    }
                },
                "velocity": {
                    "x": 8.014870643615723,
                    "y": -0.6202486753463745,
                    "z": 0.05394040793180466
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4099,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.037632942199707,
                "transform": {
                    "location": {
                        "x": -1349.034912109375,
                        "y": 3104.402099609375,
                        "z": 345.5428161621094
                    },
                    "rotation": {
                        "roll": -0.0017089851899072528,
                        "pitch": 0.402926504611969,
                        "yaw": -4.414735317230225
                    }
                },
                "velocity": {
                    "x": 8.013721466064453,
                    "y": -0.6169908046722412,
                    "z": 0.05596676841378212
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4097,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.04576587677002,
                "transform": {
                    "location": {
                        "x": -1316.90625,
                        "y": 3098.873291015625,
                        "z": 345.9581604003906
                    },
                    "rotation": {
                        "roll": 0.0028995790053159,
                        "pitch": 1.3039239645004272,
                        "yaw": -2.850891590118408
                    }
                },
                "velocity": {
                    "x": 8.03431510925293,
                    "y": -0.38831186294555664,
                    "z": 0.1826048493385315
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4096,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.025506019592285,
                "transform": {
                    "location": {
                        "x": -1307.6207275390625,
                        "y": 3105.456787109375,
                        "z": 346.2264709472656
                    },
                    "rotation": {
                        "roll": 0.001163221662864089,
                        "pitch": 1.7222594022750854,
                        "yaw": -2.419189453125
                    }
                },
                "velocity": {
                    "x": 8.015195846557617,
                    "y": -0.3230211138725281,
                    "z": 0.24706898629665375
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4095,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.053976058959961,
                "transform": {
                    "location": {
                        "x": -1307.2830810546875,
                        "y": 3101.94091796875,
                        "z": 346.1966247558594
                    },
                    "rotation": {
                        "roll": -0.005493165925145149,
                        "pitch": 1.7244791984558105,
                        "yaw": -2.390136957168579
                    }
                },
                "velocity": {
                    "x": 8.043519020080566,
                    "y": -0.3227366507053375,
                    "z": 0.2533342242240906
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.289290189743042,
                "transform": {
                    "location": {
                        "x": -1391.572265625,
                        "y": 3087.197998046875,
                        "z": 345.72418212890625
                    },
                    "rotation": {
                        "roll": -0.00039672956336289644,
                        "pitch": 0.8630285263061523,
                        "yaw": 173.651123046875
                    }
                },
                "velocity": {
                    "x": -1.282051682472229,
                    "y": 0.1351623684167862,
                    "z": 0.01854265108704567
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.384353637695312,
                "transform": {
                    "location": {
                        "x": -1409.7664794921875,
                        "y": 3089.323974609375,
                        "z": 346.04949951171875
                    },
                    "rotation": {
                        "roll": 0.009469831362366676,
                        "pitch": 1.0970239639282227,
                        "yaw": 173.0877685546875
                    }
                },
                "velocity": {
                    "x": -8.32131576538086,
                    "y": 1.0177040100097656,
                    "z": 0.1318245679140091
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.117704391479492,
                "transform": {
                    "location": {
                        "x": -1392.164306640625,
                        "y": 3090.78125,
                        "z": 345.7389831542969
                    },
                    "rotation": {
                        "roll": 0.008204675279557705,
                        "pitch": 0.8967832922935486,
                        "yaw": 173.98431396484375
                    }
                },
                "velocity": {
                    "x": -3.100181818008423,
                    "y": 0.3267090618610382,
                    "z": 0.047058962285518646
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.081195831298828,
                "transform": {
                    "location": {
                        "x": -1410.022216796875,
                        "y": 3092.881103515625,
                        "z": 346.02880859375
                    },
                    "rotation": {
                        "roll": 0.016295427456498146,
                        "pitch": 1.2120238542556763,
                        "yaw": 173.0692596435547
                    }
                },
                "velocity": {
                    "x": -9.01314640045166,
                    "y": 1.1002647876739502,
                    "z": 0.1439870446920395
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.8014130592346191,
                "transform": {
                    "location": {
                        "x": -1390.813232421875,
                        "y": 3094.15869140625,
                        "z": 345.7244873046875
                    },
                    "rotation": {
                        "roll": 0.008326834999024868,
                        "pitch": 1.0951935052871704,
                        "yaw": 174.08499145507812
                    }
                },
                "velocity": {
                    "x": -1.7912943363189697,
                    "y": 0.18871541321277618,
                    "z": 0.027203062549233437
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.658133506774902,
                "transform": {
                    "location": {
                        "x": -1408.0267333984375,
                        "y": 3096.161376953125,
                        "z": 345.995849609375
                    },
                    "rotation": {
                        "roll": 0.006935339421033859,
                        "pitch": 0.9416235089302063,
                        "yaw": 173.13229370117188
                    }
                },
                "velocity": {
                    "x": -6.608490943908691,
                    "y": 0.804549515247345,
                    "z": 0.10625199973583221
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 1.000787377357483,
        "expert_target_speed": 20.0,
        "target_point": [
            11.790544466549578,
            -0.1628059307812587
        ],
        "target_point_next": [
            16.584463416669937,
            -3.8029883322043165
        ]
    },
    "620": {
        "acceleration": [
            1.9901657104492188,
            0.7539463043212891,
            0.061628371477127075
        ],
        "angular_velocity": [
            0.5973308086395264,
            0.5721690058708191,
            -3.3050997257232666
        ],
        "forward_vector": [
            -0.9969839453697205,
            0.07760833948850632,
            5.722045534639619e-05
        ],
        "right_vector": [
            -0.0776081383228302,
            -0.9969790577888489,
            -0.0031322836875915527
        ],
        "location": [
            -1365.712890625,
            3084.638916015625,
            345.50262451171875
        ],
        "rotation": [
            0.17946693301200867,
            0.003278490621596575,
            175.54888916015625
        ],
        "velocity": [
            -16.76102066040039,
            1.3080297708511353,
            0.025160618126392365
        ],
        "speed": 16.811982496416107,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 26.415246963500977,
        "front_vehicle_info": {
            "id": 4045,
            "type": "vehicle.ford.mustang",
            "location": [
                -1391.9984130859375,
                3087.24365234375,
                345.7304992675781
            ],
            "velocity": [
                -2.1017606258392334,
                0.2229468673467636,
                0.032174549996852875
            ],
            "speed_kmh": 7.60966960742012,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4105,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.935186862945557,
                "transform": {
                    "location": {
                        "x": -1306.3984375,
                        "y": 3080.734375,
                        "z": 346.2650451660156
                    },
                    "rotation": {
                        "roll": -0.018951404839754105,
                        "pitch": -1.860256552696228,
                        "yaw": 178.16404724121094
                    }
                },
                "velocity": {
                    "x": -5.928460597991943,
                    "y": 0.21240217983722687,
                    "z": -0.18622161448001862
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4104,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.214054584503174,
                "transform": {
                    "location": {
                        "x": -1306.533935546875,
                        "y": 3084.2421875,
                        "z": 346.2471008300781
                    },
                    "rotation": {
                        "roll": 0.01640438847243786,
                        "pitch": -1.4618175029754639,
                        "yaw": 178.17481994628906
                    }
                },
                "velocity": {
                    "x": -6.20731782913208,
                    "y": 0.21690092980861664,
                    "z": -0.19138847291469574
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4103,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.053516387939453,
                "transform": {
                    "location": {
                        "x": -1305.73681640625,
                        "y": 3087.72216796875,
                        "z": 346.27557373046875
                    },
                    "rotation": {
                        "roll": 0.004909808747470379,
                        "pitch": -1.5251401662826538,
                        "yaw": 178.28330993652344
                    }
                },
                "velocity": {
                    "x": -6.047187805175781,
                    "y": 0.20113570988178253,
                    "z": -0.19006267189979553
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4101,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.02425765991211,
                "transform": {
                    "location": {
                        "x": -1354.570556640625,
                        "y": 3101.330322265625,
                        "z": 345.51513671875
                    },
                    "rotation": {
                        "roll": -0.0007934561581350863,
                        "pitch": 0.22532109916210175,
                        "yaw": -4.66146993637085
                    }
                },
                "velocity": {
                    "x": 7.997772693634033,
                    "y": -0.6506670117378235,
                    "z": 0.0312529094517231
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4100,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.042035102844238,
                "transform": {
                    "location": {
                        "x": -1347.52783203125,
                        "y": 3107.79931640625,
                        "z": 345.55572509765625
                    },
                    "rotation": {
                        "roll": -0.007843017578125,
                        "pitch": 0.39577528834342957,
                        "yaw": -4.378724575042725
                    }
                },
                "velocity": {
                    "x": 8.019072532653809,
                    "y": -0.6046300530433655,
                    "z": 0.05677724629640579
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4099,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.09090805053711,
                "transform": {
                    "location": {
                        "x": -1347.0228271484375,
                        "y": 3104.249267578125,
                        "z": 345.5572509765625
                    },
                    "rotation": {
                        "roll": -0.0018310544546693563,
                        "pitch": 0.4066148102283478,
                        "yaw": -4.311585903167725
                    }
                },
                "velocity": {
                    "x": 8.068473815917969,
                    "y": -0.5988945960998535,
                    "z": 0.06199522688984871
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4097,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.982964992523193,
                "transform": {
                    "location": {
                        "x": -1314.9053955078125,
                        "y": 3098.776611328125,
                        "z": 346.0064697265625
                    },
                    "rotation": {
                        "roll": -0.0012817397946491838,
                        "pitch": 1.3934677839279175,
                        "yaw": -2.779999017715454
                    }
                },
                "velocity": {
                    "x": 7.971189975738525,
                    "y": -0.3835426867008209,
                    "z": 0.2018716186285019
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4096,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.000540733337402,
                "transform": {
                    "location": {
                        "x": -1305.619140625,
                        "y": 3105.3759765625,
                        "z": 346.28839111328125
                    },
                    "rotation": {
                        "roll": 0.01309614535421133,
                        "pitch": 1.837149977684021,
                        "yaw": -2.305236577987671
                    }
                },
                "velocity": {
                    "x": 7.990199565887451,
                    "y": -0.31722700595855713,
                    "z": 0.2544255554676056
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4095,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.005069732666016,
                "transform": {
                    "location": {
                        "x": -1305.27783203125,
                        "y": 3101.85986328125,
                        "z": 346.25897216796875
                    },
                    "rotation": {
                        "roll": -0.0032043487299233675,
                        "pitch": 1.86296808719635,
                        "yaw": -2.292541742324829
                    }
                },
                "velocity": {
                    "x": 7.9946608543396,
                    "y": -0.3181214928627014,
                    "z": 0.2556242048740387
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.113797187805176,
                "transform": {
                    "location": {
                        "x": -1391.9984130859375,
                        "y": 3087.24365234375,
                        "z": 345.7304992675781
                    },
                    "rotation": {
                        "roll": 0.0014026948483660817,
                        "pitch": 0.8786696195602417,
                        "yaw": 173.72232055664062
                    }
                },
                "velocity": {
                    "x": -2.1017606258392334,
                    "y": 0.2229468673467636,
                    "z": 0.032174549996852875
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.685587882995605,
                "transform": {
                    "location": {
                        "x": -1412.0230712890625,
                        "y": 3089.60205078125,
                        "z": 346.08563232421875
                    },
                    "rotation": {
                        "roll": 0.017853761091828346,
                        "pitch": 1.0649220943450928,
                        "yaw": 172.92579650878906
                    }
                },
                "velocity": {
                    "x": -9.606749534606934,
                    "y": 1.2238006591796875,
                    "z": 0.15261054039001465
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.8340628147125244,
                "transform": {
                    "location": {
                        "x": -1393.031982421875,
                        "y": 3090.872802734375,
                        "z": 345.7519836425781
                    },
                    "rotation": {
                        "roll": 0.006914017256349325,
                        "pitch": 0.9224511384963989,
                        "yaw": 173.9785614013672
                    }
                },
                "velocity": {
                    "x": -3.812458038330078,
                    "y": 0.4022006094455719,
                    "z": 0.058609217405319214
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.001157760620117,
                "transform": {
                    "location": {
                        "x": -1412.3577880859375,
                        "y": 3093.173095703125,
                        "z": 346.0660400390625
                    },
                    "rotation": {
                        "roll": 0.02981567569077015,
                        "pitch": 1.1321789026260376,
                        "yaw": 172.82504272460938
                    }
                },
                "velocity": {
                    "x": -9.92007827758789,
                    "y": 1.2610739469528198,
                    "z": 0.15777727961540222
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.791905403137207,
                "transform": {
                    "location": {
                        "x": -1391.3763427734375,
                        "y": 3094.2177734375,
                        "z": 345.7325439453125
                    },
                    "rotation": {
                        "roll": 0.008252080529928207,
                        "pitch": 1.2550199031829834,
                        "yaw": 174.06060791015625
                    }
                },
                "velocity": {
                    "x": -2.776224374771118,
                    "y": 0.29242628812789917,
                    "z": 0.042433395981788635
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.560111045837402,
                "transform": {
                    "location": {
                        "x": -1409.8065185546875,
                        "y": 3096.377685546875,
                        "z": 346.0242919921875
                    },
                    "rotation": {
                        "roll": 0.005722615402191877,
                        "pitch": 0.9449498057365417,
                        "yaw": 172.99220275878906
                    }
                },
                "velocity": {
                    "x": -7.5029520988464355,
                    "y": 0.9201469421386719,
                    "z": 0.11966777592897415
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 1.0005697011947632,
        "expert_target_speed": 20.0,
        "target_point": [
            7.537925077782663,
            -0.08248044874136307
        ],
        "target_point_next": [
            12.363575044565456,
            -3.680492290584368
        ]
    },
    "625": {
        "acceleration": [
            2.4582290649414062,
            1.8324971199035645,
            0.24127095937728882
        ],
        "angular_velocity": [
            1.3149999380111694,
            0.3699862062931061,
            -7.525670051574707
        ],
        "forward_vector": [
            -0.9949970841407776,
            0.09990368783473969,
            0.00022697447275277227
        ],
        "right_vector": [
            -0.09990286827087402,
            -0.9949731230735779,
            -0.006914645433425903
        ],
        "location": [
            -1369.83203125,
            3084.9990234375,
            345.51385498046875
        ],
        "rotation": [
            0.39618316292762756,
            0.01300467923283577,
            174.26637268066406
        ],
        "velocity": [
            -16.194679260253906,
            1.6315853595733643,
            0.06520551443099976
        ],
        "speed": 16.276661424508166,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 22.901058197021484,
        "front_vehicle_info": {
            "id": 4045,
            "type": "vehicle.ford.mustang",
            "location": [
                -1392.6151123046875,
                3087.3095703125,
                345.73980712890625
            ],
            "velocity": [
                -2.807668924331665,
                0.297496497631073,
                0.04241495952010155
            ],
            "speed_kmh": 10.16533676111266,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4106,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": -1385.8221435546875,
                        "y": 3107.70458984375,
                        "z": 346.0236511230469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7861273884773254,
                        "yaw": -6.199528217315674
                    }
                },
                "velocity": {
                    "x": -7.25984938831914e-10,
                    "y": 7.886109126831187e-11,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4105,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.148094177246094,
                "transform": {
                    "location": {
                        "x": -1307.9703369140625,
                        "y": 3080.78955078125,
                        "z": 346.2176818847656
                    },
                    "rotation": {
                        "roll": 0.014161752536892891,
                        "pitch": -1.852142333984375,
                        "yaw": 177.9853973388672
                    }
                },
                "velocity": {
                    "x": -7.140287399291992,
                    "y": 0.2579796612262726,
                    "z": -0.2121138721704483
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4104,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.7748517990112305,
                "transform": {
                    "location": {
                        "x": -1308.310302734375,
                        "y": 3084.3046875,
                        "z": 346.1925964355469
                    },
                    "rotation": {
                        "roll": 0.009148417972028255,
                        "pitch": -1.1137100458145142,
                        "yaw": 178.02960205078125
                    }
                },
                "velocity": {
                    "x": -7.766385555267334,
                    "y": 0.27931690216064453,
                    "z": -0.23142321407794952
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4103,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.625326633453369,
                "transform": {
                    "location": {
                        "x": -1307.435546875,
                        "y": 3087.7783203125,
                        "z": 346.22308349609375
                    },
                    "rotation": {
                        "roll": 0.008707688190042973,
                        "pitch": -1.4323657751083374,
                        "yaw": 178.02099609375
                    }
                },
                "velocity": {
                    "x": -7.617170810699463,
                    "y": 0.2698806822299957,
                    "z": -0.22690005600452423
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4101,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.079622268676758,
                "transform": {
                    "location": {
                        "x": -1352.5653076171875,
                        "y": 3101.16845703125,
                        "z": 345.5237731933594
                    },
                    "rotation": {
                        "roll": -0.00036620997707359493,
                        "pitch": 0.25570860505104065,
                        "yaw": -4.584413528442383
                    }
                },
                "velocity": {
                    "x": 8.054472923278809,
                    "y": -0.6352898478507996,
                    "z": 0.04654015600681305
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4100,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.050737380981445,
                "transform": {
                    "location": {
                        "x": -1345.520263671875,
                        "y": 3107.64990234375,
                        "z": 345.5708923339844
                    },
                    "rotation": {
                        "roll": -0.007385254371911287,
                        "pitch": 0.45433732867240906,
                        "yaw": -4.222809791564941
                    }
                },
                "velocity": {
                    "x": 8.028705596923828,
                    "y": -0.5921603441238403,
                    "z": 0.06002261862158775
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4099,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.036066055297852,
                "transform": {
                    "location": {
                        "x": -1345.0128173828125,
                        "y": 3104.1005859375,
                        "z": 345.5725402832031
                    },
                    "rotation": {
                        "roll": -0.0007629425963386893,
                        "pitch": 0.471276193857193,
                        "yaw": -4.205384731292725
                    }
                },
                "velocity": {
                    "x": 8.014408111572266,
                    "y": -0.5861327648162842,
                    "z": 0.0638532042503357
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4097,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.04330062866211,
                "transform": {
                    "location": {
                        "x": -1312.904052734375,
                        "y": 3098.682373046875,
                        "z": 346.0564880371094
                    },
                    "rotation": {
                        "roll": 0.004950260743498802,
                        "pitch": 1.4861739873886108,
                        "yaw": -2.670868396759033
                    }
                },
                "velocity": {
                    "x": 8.032694816589355,
                    "y": -0.35666200518608093,
                    "z": 0.208086296916008
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4096,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.02724838256836,
                "transform": {
                    "location": {
                        "x": -1303.6175537109375,
                        "y": 3105.296875,
                        "z": 346.3532409667969
                    },
                    "rotation": {
                        "roll": -0.0007019066833890975,
                        "pitch": 1.897603988647461,
                        "yaw": -2.244140863418579
                    }
                },
                "velocity": {
                    "x": 8.017220497131348,
                    "y": -0.29750803112983704,
                    "z": 0.26903077960014343
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4095,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.053481101989746,
                "transform": {
                    "location": {
                        "x": -1303.2725830078125,
                        "y": 3101.78173828125,
                        "z": 346.32440185546875
                    },
                    "rotation": {
                        "roll": -0.005828860215842724,
                        "pitch": 1.876539707183838,
                        "yaw": -2.2115478515625
                    }
                },
                "velocity": {
                    "x": 8.043593406677246,
                    "y": -0.2939096689224243,
                    "z": 0.26976990699768066
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.823704719543457,
                "transform": {
                    "location": {
                        "x": -1392.6151123046875,
                        "y": 3087.3095703125,
                        "z": 345.73980712890625
                    },
                    "rotation": {
                        "roll": 0.0027870452031493187,
                        "pitch": 0.8968174457550049,
                        "yaw": 173.79043579101562
                    }
                },
                "velocity": {
                    "x": -2.807668924331665,
                    "y": 0.297496497631073,
                    "z": 0.04241495952010155
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 10.88349723815918,
                "transform": {
                    "location": {
                        "x": -1414.526123046875,
                        "y": 3089.92138671875,
                        "z": 346.12548828125
                    },
                    "rotation": {
                        "roll": 0.013595245778560638,
                        "pitch": 1.0545811653137207,
                        "yaw": 172.67527770996094
                    }
                },
                "velocity": {
                    "x": -10.792475700378418,
                    "y": 1.3941574096679688,
                    "z": 0.17119912803173065
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.542362689971924,
                "transform": {
                    "location": {
                        "x": -1394.0758056640625,
                        "y": 3090.982666015625,
                        "z": 345.7685546875
                    },
                    "rotation": {
                        "roll": 0.009022614918649197,
                        "pitch": 0.9249988198280334,
                        "yaw": 173.97389221191406
                    }
                },
                "velocity": {
                    "x": -4.51668643951416,
                    "y": 0.4768230617046356,
                    "z": 0.07241395860910416
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.33725357055664,
                "transform": {
                    "location": {
                        "x": -1415.0245361328125,
                        "y": 3093.51513671875,
                        "z": 346.10858154296875
                    },
                    "rotation": {
                        "roll": 0.02188865840435028,
                        "pitch": 1.1832891702651978,
                        "yaw": 172.6552276611328
                    }
                },
                "velocity": {
                    "x": -11.242521286010742,
                    "y": 1.4515072107315063,
                    "z": 0.17929765582084656
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.1924848556518555,
                "transform": {
                    "location": {
                        "x": -1392.254638671875,
                        "y": 3094.310302734375,
                        "z": 345.7452392578125
                    },
                    "rotation": {
                        "roll": 0.010849862359464169,
                        "pitch": 1.4516541957855225,
                        "yaw": 174.02386474609375
                    }
                },
                "velocity": {
                    "x": -4.1688618659973145,
                    "y": 0.43987172842025757,
                    "z": 0.06350477039813995
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.848189353942871,
                "transform": {
                    "location": {
                        "x": -1411.814208984375,
                        "y": 3096.627685546875,
                        "z": 346.0562438964844
                    },
                    "rotation": {
                        "roll": 0.0070972866378724575,
                        "pitch": 0.9556185603141785,
                        "yaw": 172.82395935058594
                    }
                },
                "velocity": {
                    "x": -8.776167869567871,
                    "y": 1.1177700757980347,
                    "z": 0.14110997319221497
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.9998725056648254,
        "expert_target_speed": 20.0,
        "target_point": [
            8.308346562640242,
            -3.456055891512732
        ],
        "target_point_next": [
            8.308346562640242,
            -3.456055891512732
        ]
    },
    "630": {
        "acceleration": [
            2.6777076721191406,
            1.818990707397461,
            0.02170175313949585
        ],
        "angular_velocity": [
            0.5149627923965454,
            -0.20936055481433868,
            -8.416300773620605
        ],
        "forward_vector": [
            -0.9905329942703247,
            0.13726241886615753,
            0.0018203246872872114
        ],
        "right_vector": [
            -0.13727420568466187,
            -0.9904701709747314,
            -0.011158865876495838
        ],
        "location": [
            -1373.798095703125,
            3085.464111328125,
            345.5333557128906
        ],
        "rotation": [
            0.6393702626228333,
            0.1042969822883606,
            172.1105194091797
        ],
        "velocity": [
            -15.541519165039062,
            2.110886573791504,
            0.08968671411275864
        ],
        "speed": 15.684216910151738,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 19.709627151489258,
        "front_vehicle_info": {
            "id": 4045,
            "type": "vehicle.ford.mustang",
            "location": [
                -1393.4117431640625,
                3087.39453125,
                345.7518005371094
            ],
            "velocity": [
                -3.531067132949829,
                0.3734274208545685,
                0.0538223460316658
            ],
            "speed_kmh": 12.784197610857772,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4107,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.450000286102295,
                "transform": {
                    "location": {
                        "x": -1385.4442138671875,
                        "y": 3111.18408203125,
                        "z": 345.75909423828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7861273884773254,
                        "yaw": -6.199528217315674
                    }
                },
                "velocity": {
                    "x": -2.5058621844209483e-08,
                    "y": 2.72202682616296e-09,
                    "z": -2.450000286102295
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4106,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.5944879651069641,
                "transform": {
                    "location": {
                        "x": -1385.82421875,
                        "y": 3107.704833984375,
                        "z": 345.6373291015625
                    },
                    "rotation": {
                        "roll": -0.014617919921875,
                        "pitch": -0.850044310092926,
                        "yaw": -6.199101448059082
                    }
                },
                "velocity": {
                    "x": -0.007156034931540489,
                    "y": 0.000990733620710671,
                    "z": -0.5944440364837646
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4105,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.466544151306152,
                "transform": {
                    "location": {
                        "x": -1309.9425048828125,
                        "y": 3080.861083984375,
                        "z": 346.1595153808594
                    },
                    "rotation": {
                        "roll": -0.009887689724564552,
                        "pitch": -1.754019856452942,
                        "yaw": 177.92709350585938
                    }
                },
                "velocity": {
                    "x": -8.457316398620605,
                    "y": 0.31212615966796875,
                    "z": -0.24239063262939453
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4104,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.845993995666504,
                "transform": {
                    "location": {
                        "x": -1310.3765869140625,
                        "y": 3084.380126953125,
                        "z": 346.1321716308594
                    },
                    "rotation": {
                        "roll": 0.02720957063138485,
                        "pitch": -1.1490426063537598,
                        "yaw": 177.8561553955078
                    }
                },
                "velocity": {
                    "x": -8.835272789001465,
                    "y": 0.35491758584976196,
                    "z": -0.252182275056839
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4103,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.975190162658691,
                "transform": {
                    "location": {
                        "x": -1309.459228515625,
                        "y": 3087.849853515625,
                        "z": 346.16204833984375
                    },
                    "rotation": {
                        "roll": -0.0068969749845564365,
                        "pitch": -1.3129603862762451,
                        "yaw": 177.93466186523438
                    }
                },
                "velocity": {
                    "x": -8.965446472167969,
                    "y": 0.3240557312965393,
                    "z": -0.26420706510543823
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4101,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.054896354675293,
                "transform": {
                    "location": {
                        "x": -1350.5523681640625,
                        "y": 3101.01025390625,
                        "z": 345.53460693359375
                    },
                    "rotation": {
                        "roll": -0.00027465965831652284,
                        "pitch": 0.39038628339767456,
                        "yaw": -4.464052677154541
                    }
                },
                "velocity": {
                    "x": 8.030652046203613,
                    "y": -0.6226445436477661,
                    "z": 0.04784061387181282
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4100,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.040509223937988,
                "transform": {
                    "location": {
                        "x": -1343.514404296875,
                        "y": 3107.50244140625,
                        "z": 345.5868225097656
                    },
                    "rotation": {
                        "roll": -0.0033569331280887127,
                        "pitch": 0.4851961135864258,
                        "yaw": -4.209352016448975
                    }
                },
                "velocity": {
                    "x": 8.018742561340332,
                    "y": -0.5872842073440552,
                    "z": 0.06828239560127258
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4099,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.081221580505371,
                "transform": {
                    "location": {
                        "x": -1343.003662109375,
                        "y": 3103.954345703125,
                        "z": 345.5890808105469
                    },
                    "rotation": {
                        "roll": -0.0014343267539516091,
                        "pitch": 0.4805788993835449,
                        "yaw": -4.132081031799316
                    }
                },
                "velocity": {
                    "x": 8.060639381408691,
                    "y": -0.5723193883895874,
                    "z": 0.06844083964824677
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4097,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.979825496673584,
                "transform": {
                    "location": {
                        "x": -1310.9039306640625,
                        "y": 3098.59326171875,
                        "z": 346.1109313964844
                    },
                    "rotation": {
                        "roll": -0.0003662153903860599,
                        "pitch": 1.5649738311767578,
                        "yaw": -2.562347412109375
                    }
                },
                "velocity": {
                    "x": 7.9688720703125,
                    "y": -0.3511291742324829,
                    "z": 0.2267153263092041
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4096,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1301.5550537109375,
                        "y": 3105.174560546875,
                        "z": 346.408935546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.922404408454895,
                        "yaw": -1.9713438749313354
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4095,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1301.224853515625,
                        "y": 3101.662353515625,
                        "z": 346.3974914550781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.922404408454895,
                        "yaw": -1.9713438749313354
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.55116605758667,
                "transform": {
                    "location": {
                        "x": -1393.4117431640625,
                        "y": 3087.39453125,
                        "z": 345.7518005371094
                    },
                    "rotation": {
                        "roll": 0.004812153521925211,
                        "pitch": 0.9189472794532776,
                        "yaw": 173.8539581298828
                    }
                },
                "velocity": {
                    "x": -3.531067132949829,
                    "y": 0.3734274208545685,
                    "z": 0.0538223460316658
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 12.047163009643555,
                "transform": {
                    "location": {
                        "x": -1417.383544921875,
                        "y": 3090.29345703125,
                        "z": 346.1710510253906
                    },
                    "rotation": {
                        "roll": 0.01793786697089672,
                        "pitch": 1.0465420484542847,
                        "yaw": 172.51763916015625
                    }
                },
                "velocity": {
                    "x": -11.940000534057617,
                    "y": 1.5918718576431274,
                    "z": 0.19096635282039642
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.1812214851379395,
                "transform": {
                    "location": {
                        "x": -1395.30126953125,
                        "y": 3091.112060546875,
                        "z": 345.7882995605469
                    },
                    "rotation": {
                        "roll": 0.008949434384703636,
                        "pitch": 0.9224306344985962,
                        "yaw": 173.97189331054688
                    }
                },
                "velocity": {
                    "x": -5.151927471160889,
                    "y": 0.5438680648803711,
                    "z": 0.08313398063182831
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.355565071105957,
                "transform": {
                    "location": {
                        "x": -1417.9671630859375,
                        "y": 3093.90234375,
                        "z": 346.15557861328125
                    },
                    "rotation": {
                        "roll": 0.03149961680173874,
                        "pitch": 1.1460373401641846,
                        "yaw": 172.42233276367188
                    }
                },
                "velocity": {
                    "x": -12.245562553405762,
                    "y": 1.633419156074524,
                    "z": 0.1952827274799347
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.372826099395752,
                "transform": {
                    "location": {
                        "x": -1393.4622802734375,
                        "y": 3094.4375,
                        "z": 345.7640686035156
                    },
                    "rotation": {
                        "roll": 0.011934851296246052,
                        "pitch": 1.501678466796875,
                        "yaw": 174.0066375732422
                    }
                },
                "velocity": {
                    "x": -5.34229850769043,
                    "y": 0.5654252767562866,
                    "z": 0.08603301644325256
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.608001708984375,
                "transform": {
                    "location": {
                        "x": -1414.1129150390625,
                        "y": 3096.9208984375,
                        "z": 346.09320068359375
                    },
                    "rotation": {
                        "roll": 0.004561542067676783,
                        "pitch": 0.9424294233322144,
                        "yaw": 172.61550903320312
                    }
                },
                "velocity": {
                    "x": -9.527461051940918,
                    "y": 1.2320632934570312,
                    "z": 0.15232893824577332
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -1.0002094507217407,
        "expert_target_speed": 20.0,
        "target_point": [
            9.591728223541178,
            -6.542460983648512
        ],
        "target_point_next": [
            11.599353530650124,
            -6.4764697971578284
        ]
    },
    "635": {
        "acceleration": [
            2.79541015625,
            1.723318099975586,
            0.17456352710723877
        ],
        "angular_velocity": [
            0.1742711216211319,
            0.4219917356967926,
            -7.668789863586426
        ],
        "forward_vector": [
            -0.9851543307304382,
            0.17162159085273743,
            0.004118788056075573
        ],
        "right_vector": [
            -0.17166054248809814,
            -0.9850756525993347,
            -0.012598270550370216
        ],
        "location": [
            -1377.595458984375,
            3086.044921875,
            345.55987548828125
        ],
        "rotation": [
            0.7218528985977173,
            0.23598985373973846,
            170.1177978515625
        ],
        "velocity": [
            -14.846071243286133,
            2.5609450340270996,
            0.12169097363948822
        ],
        "speed": 15.065333412441808,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 16.85162353515625,
        "front_vehicle_info": {
            "id": 4045,
            "type": "vehicle.ford.mustang",
            "location": [
                -1394.383056640625,
                3087.497802734375,
                345.7670593261719
            ],
            "velocity": [
                -4.218172073364258,
                0.44582995772361755,
                0.06653396785259247
            ],
            "speed_kmh": 15.271880081289096,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4107,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.2335708886384964,
                "transform": {
                    "location": {
                        "x": -1385.4459228515625,
                        "y": 3111.184326171875,
                        "z": 345.6170349121094
                    },
                    "rotation": {
                        "roll": 0.0004928960697725415,
                        "pitch": -0.8315686583518982,
                        "yaw": -6.199193477630615
                    }
                },
                "velocity": {
                    "x": 0.0031552657019346952,
                    "y": -0.0005447075818665326,
                    "z": 0.23354893922805786
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4106,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.14963793754577637,
                "transform": {
                    "location": {
                        "x": -1385.824462890625,
                        "y": 3107.704833984375,
                        "z": 345.6321716308594
                    },
                    "rotation": {
                        "roll": -0.007049561943858862,
                        "pitch": -0.8563212752342224,
                        "yaw": -6.19916296005249
                    }
                },
                "velocity": {
                    "x": 0.0019867955707013607,
                    "y": -8.410555892623961e-05,
                    "z": 0.14962472021579742
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4105,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.371204376220703,
                "transform": {
                    "location": {
                        "x": -1312.1751708984375,
                        "y": 3080.950439453125,
                        "z": 346.0978088378906
                    },
                    "rotation": {
                        "roll": -0.00836181640625,
                        "pitch": -1.6289317607879639,
                        "yaw": 177.68443298339844
                    }
                },
                "velocity": {
                    "x": -9.359368324279785,
                    "y": 0.4037579298019409,
                    "z": -0.2422267496585846
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4104,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.37876033782959,
                "transform": {
                    "location": {
                        "x": -1312.81201171875,
                        "y": 3084.481201171875,
                        "z": 346.06549072265625
                    },
                    "rotation": {
                        "roll": 0.041638363152742386,
                        "pitch": -0.8857389092445374,
                        "yaw": 177.58802795410156
                    }
                },
                "velocity": {
                    "x": -10.365519523620605,
                    "y": 0.44589290022850037,
                    "z": -0.2754272520542145
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4103,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.916082382202148,
                "transform": {
                    "location": {
                        "x": -1311.876708984375,
                        "y": 3087.943115234375,
                        "z": 346.0943603515625
                    },
                    "rotation": {
                        "roll": 0.025215361267328262,
                        "pitch": -1.2502387762069702,
                        "yaw": 177.7222900390625
                    }
                },
                "velocity": {
                    "x": -9.904215812683105,
                    "y": 0.4089732766151428,
                    "z": -0.2606508135795593
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4101,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.070302963256836,
                "transform": {
                    "location": {
                        "x": -1348.5435791015625,
                        "y": 3100.85498046875,
                        "z": 345.54827880859375
                    },
                    "rotation": {
                        "roll": -0.0020446779672056437,
                        "pitch": 0.395146906375885,
                        "yaw": -4.398255825042725
                    }
                },
                "velocity": {
                    "x": 8.047026634216309,
                    "y": -0.6098542809486389,
                    "z": 0.056829165667295456
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4100,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046018600463867,
                "transform": {
                    "location": {
                        "x": -1341.5086669921875,
                        "y": 3107.35986328125,
                        "z": 345.6037292480469
                    },
                    "rotation": {
                        "roll": -0.00848388858139515,
                        "pitch": 0.4809545874595642,
                        "yaw": -4.02658224105835
                    }
                },
                "velocity": {
                    "x": 8.026016235351562,
                    "y": -0.5628977417945862,
                    "z": 0.0680084228515625
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4099,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.045942306518555,
                "transform": {
                    "location": {
                        "x": -1340.992431640625,
                        "y": 3103.8125,
                        "z": 345.6059265136719
                    },
                    "rotation": {
                        "roll": -0.0007934581954032183,
                        "pitch": 0.4762144088745117,
                        "yaw": -4.00546407699585
                    }
                },
                "velocity": {
                    "x": 8.026365280151367,
                    "y": -0.5567776560783386,
                    "z": 0.06815444678068161
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4097,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.041351318359375,
                "transform": {
                    "location": {
                        "x": -1308.9029541015625,
                        "y": 3098.505615234375,
                        "z": 346.16717529296875
                    },
                    "rotation": {
                        "roll": 0.001560797798447311,
                        "pitch": 1.6662108898162842,
                        "yaw": -2.501159906387329
                    }
                },
                "velocity": {
                    "x": 8.031190872192383,
                    "y": -0.33014628291130066,
                    "z": 0.23302903771400452
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4096,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1299.4766845703125,
                        "y": 3105.041748046875,
                        "z": 346.4619445800781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.922404408454895,
                        "yaw": -1.9713438749313354
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4095,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1299.1474609375,
                        "y": 3101.529296875,
                        "z": 346.4732666015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.922404408454895,
                        "yaw": -1.9713438749313354
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4045,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.242188930511475,
                "transform": {
                    "location": {
                        "x": -1394.383056640625,
                        "y": 3087.497802734375,
                        "z": 345.7670593261719
                    },
                    "rotation": {
                        "roll": 0.006357018370181322,
                        "pitch": 0.9226765632629395,
                        "yaw": 173.90383911132812
                    }
                },
                "velocity": {
                    "x": -4.218172073364258,
                    "y": 0.44582995772361755,
                    "z": 0.06653396785259247
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4044,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 13.000795364379883,
                "transform": {
                    "location": {
                        "x": -1420.4921875,
                        "y": 3090.709228515625,
                        "z": 346.22076416015625
                    },
                    "rotation": {
                        "roll": 0.011104973964393139,
                        "pitch": 1.0225476026535034,
                        "yaw": 172.3095703125
                    }
                },
                "velocity": {
                    "x": -12.882081985473633,
                    "y": 1.7409074306488037,
                    "z": 0.20466290414333344
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4043,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.874614715576172,
                "transform": {
                    "location": {
                        "x": -1396.6524658203125,
                        "y": 3091.26025390625,
                        "z": 345.80975341796875
                    },
                    "rotation": {
                        "roll": 0.008978460915386677,
                        "pitch": 0.9214061498641968,
                        "yaw": 173.78909301757812
                    }
                },
                "velocity": {
                    "x": -5.836896896362305,
                    "y": 0.6582009792327881,
                    "z": 0.09222890436649323
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4042,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.328041076660156,
                "transform": {
                    "location": {
                        "x": -1421.1534423828125,
                        "y": 3094.331298828125,
                        "z": 346.20654296875
                    },
                    "rotation": {
                        "roll": 0.03243047744035721,
                        "pitch": 1.1282037496566772,
                        "yaw": 172.26979064941406
                    }
                },
                "velocity": {
                    "x": -13.203959465026855,
                    "y": 1.8021459579467773,
                    "z": 0.2107405960559845
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4041,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.791941165924072,
                "transform": {
                    "location": {
                        "x": -1394.8046875,
                        "y": 3094.579345703125,
                        "z": 345.7865905761719
                    },
                    "rotation": {
                        "roll": 0.00893177930265665,
                        "pitch": 1.2187515497207642,
                        "yaw": 174.05905151367188
                    }
                },
                "velocity": {
                    "x": -5.759254455566406,
                    "y": 0.6076726913452148,
                    "z": 0.09115123748779297
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.265827178955078,
                "transform": {
                    "location": {
                        "x": -1416.580322265625,
                        "y": 3097.2421875,
                        "z": 346.13275146484375
                    },
                    "rotation": {
                        "roll": 0.004223231691867113,
                        "pitch": 0.9334477782249451,
                        "yaw": 172.4528045654297
                    }
                },
                "velocity": {
                    "x": -10.175318717956543,
                    "y": 1.35039484500885,
                    "z": 0.16287089884281158
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -1.0022258758544922,
        "expert_target_speed": 20.0,
        "target_point": [
            5.972721500269574,
            -6.284500094607769
        ],
        "target_point_next": [
            7.976838084649744,
            -6.148739545658199
        ]
    }
}