{
    "0": {
        "acceleration": [
            -0.0029366009403020144,
            0.006234955508261919,
            -0.6187146902084351
        ],
        "angular_velocity": [
            0.019653374329209328,
            -0.022218827158212662,
            4.0547718526795506e-05
        ],
        "forward_vector": [
            -0.9999594688415527,
            0.006665686145424843,
            0.006045542657375336
        ],
        "right_vector": [
            -0.006665302440524101,
            -0.9999777674674988,
            8.362171502085403e-05
        ],
        "location": [
            733.07958984375,
            4286.78369140625,
            369.4612121582031
        ],
        "rotation": [
            -0.004791258834302425,
            0.346386194229126,
            179.61807250976562
        ],
        "velocity": [
            0.0007753425743430853,
            -0.0001567476720083505,
            0.14286646246910095
        ],
        "speed": 0.0007910284067396063,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.45299842953681946,
                "transform": {
                    "location": {
                        "x": 642.491943359375,
                        "y": 4286.18115234375,
                        "z": 369.8810729980469
                    },
                    "rotation": {
                        "roll": -0.23165887594223022,
                        "pitch": 0.43796536326408386,
                        "yaw": 179.660888671875
                    }
                },
                "velocity": {
                    "x": 0.004485404584556818,
                    "y": 0.012166882865130901,
                    "z": 0.4528127908706665
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0037114028818905354,
        "expert_target_speed": 10.0,
        "target_point": [
            51.54336635730816,
            0.03888316402752756
        ],
        "target_point_next": [
            102.5433292621658,
            0.07707386547628481
        ]
    },
    "5": {
        "acceleration": [
            -0.0033530928194522858,
            -0.00378597853705287,
            -0.26206716895103455
        ],
        "angular_velocity": [
            0.022034019231796265,
            -0.029905827715992928,
            -4.3402225855970755e-05
        ],
        "forward_vector": [
            -0.9999598860740662,
            0.006665688939392567,
            0.005982839968055487
        ],
        "right_vector": [
            -0.006665680557489395,
            -0.9999777674674988,
            2.1304904294083826e-05
        ],
        "location": [
            733.0796508789062,
            4286.78369140625,
            369.48199462890625
        ],
        "rotation": [
            -0.0012207028921693563,
            0.3427935242652893,
            179.61807250976562
        ],
        "velocity": [
            0.00016372058598790318,
            -0.00019053297000937164,
            0.042743146419525146
        ],
        "speed": 0.00025121155016601945,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 80.29515838623047,
        "front_vehicle_info": {
            "id": 37519,
            "type": "vehicle.ford.mustang",
            "location": [
                653.4404296875,
                4297.00537109375,
                370.13299560546875
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 37519,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 653.4404296875,
                        "y": 4297.00537109375,
                        "z": 370.13299560546875
                    },
                    "rotation": {
                        "roll": 1.0422190194203651e-10,
                        "pitch": -0.30624517798423767,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37518,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 653.4212036132812,
                        "y": 4293.75537109375,
                        "z": 370.13299560546875
                    },
                    "rotation": {
                        "roll": 1.0422190194203651e-10,
                        "pitch": -0.30624517798423767,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.5045189261436462,
                "transform": {
                    "location": {
                        "x": 762.8302001953125,
                        "y": 4285.6904296875,
                        "z": 369.3014221191406
                    },
                    "rotation": {
                        "roll": -0.0007324216421693563,
                        "pitch": 0.383897602558136,
                        "yaw": 176.17250061035156
                    }
                },
                "velocity": {
                    "x": -0.003318601753562689,
                    "y": 0.00029535844805650413,
                    "z": -0.5045079588890076
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.6357187032699585,
                "transform": {
                    "location": {
                        "x": 747.9967651367188,
                        "y": 4286.4599609375,
                        "z": 369.4294738769531
                    },
                    "rotation": {
                        "roll": 0.0007713203667663038,
                        "pitch": 0.33871588110923767,
                        "yaw": 177.8912353515625
                    }
                },
                "velocity": {
                    "x": -0.0036576269194483757,
                    "y": 6.46749249426648e-05,
                    "z": -0.6357081532478333
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.43485963344573975,
                "transform": {
                    "location": {
                        "x": 718.1520385742188,
                        "y": 4286.8720703125,
                        "z": 369.58782958984375
                    },
                    "rotation": {
                        "roll": -0.00039672848652116954,
                        "pitch": 0.33647558093070984,
                        "yaw": 179.6615447998047
                    }
                },
                "velocity": {
                    "x": -0.002469983883202076,
                    "y": -0.00010898907203227282,
                    "z": -0.43485260009765625
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.23282060027122498,
                "transform": {
                    "location": {
                        "x": 703.15234375,
                        "y": 4286.9609375,
                        "z": 369.7037658691406
                    },
                    "rotation": {
                        "roll": 0.001393489888869226,
                        "pitch": 0.33289656043052673,
                        "yaw": 179.66159057617188
                    }
                },
                "velocity": {
                    "x": -0.0013229140313342214,
                    "y": 3.070899401791394e-05,
                    "z": -0.23281683027744293
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.45631492137908936,
                "transform": {
                    "location": {
                        "x": 763.0471801757812,
                        "y": 4288.93310546875,
                        "z": 369.3104248046875
                    },
                    "rotation": {
                        "roll": -0.0009155274019576609,
                        "pitch": 0.3814045786857605,
                        "yaw": 176.17250061035156
                    }
                },
                "velocity": {
                    "x": -0.00308401882648468,
                    "y": 0.00024381028197240084,
                    "z": -0.4563044309616089
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.45543402433395386,
                "transform": {
                    "location": {
                        "x": 748.1165161132812,
                        "y": 4289.70751953125,
                        "z": 369.40191650390625
                    },
                    "rotation": {
                        "roll": -0.0011596676195040345,
                        "pitch": 0.33302634954452515,
                        "yaw": 177.8912811279297
                    }
                },
                "velocity": {
                    "x": -0.0026521566323935986,
                    "y": 0.00014246904174797237,
                    "z": -0.45542627573013306
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.2321363240480423,
                "transform": {
                    "location": {
                        "x": 718.1713256835938,
                        "y": 4290.1220703125,
                        "z": 369.61663818359375
                    },
                    "rotation": {
                        "roll": 0.0024136954452842474,
                        "pitch": 0.33435139060020447,
                        "yaw": 179.66160583496094
                    }
                },
                "velocity": {
                    "x": -0.0013205118011683226,
                    "y": 0.0002017271617660299,
                    "z": -0.23213247954845428
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37510,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.5145211815834045,
                "transform": {
                    "location": {
                        "x": 703.1715698242188,
                        "y": 4290.2109375,
                        "z": 369.6522521972656
                    },
                    "rotation": {
                        "roll": -0.00189208984375,
                        "pitch": 0.3321520686149597,
                        "yaw": 179.66162109375
                    }
                },
                "velocity": {
                    "x": -0.002972028451040387,
                    "y": 0.00014319577894639224,
                    "z": -0.5145125985145569
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.3239947259426117,
                "transform": {
                    "location": {
                        "x": 642.4929809570312,
                        "y": 4286.181640625,
                        "z": 370.003662109375
                    },
                    "rotation": {
                        "roll": -0.0943298190832138,
                        "pitch": 0.384498655796051,
                        "yaw": 179.6613006591797
                    }
                },
                "velocity": {
                    "x": 0.00032208068296313286,
                    "y": -0.009597599506378174,
                    "z": 0.32385239005088806
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0019392836838960648,
        "expert_target_speed": 1.0384309442164947,
        "target_point": [
            51.54342740964375,
            0.03885899304478729
        ],
        "target_point_next": [
            102.54339033270632,
            0.0770253758161602
        ]
    },
    "10": {
        "acceleration": [
            -0.00045369117287918925,
            0.00664787320420146,
            -0.06915353238582611
        ],
        "angular_velocity": [
            -0.012948335148394108,
            -0.003964511677622795,
            0.00013943412341177464
        ],
        "forward_vector": [
            -0.9999599456787109,
            0.006664735730737448,
            0.005967342760413885
        ],
        "right_vector": [
            -0.006664861459285021,
            -0.9999777674674988,
            -1.1717493180185556e-06
        ],
        "location": [
            733.0796508789062,
            4286.78369140625,
            369.4877014160156
        ],
        "rotation": [
            6.713748734910041e-05,
            0.3419055938720703,
            179.61813354492188
        ],
        "velocity": [
            6.123546336311847e-05,
            0.00019684214203152806,
            0.010470760054886341
        ],
        "speed": 0.0002061470612277946,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 78.23189544677734,
        "front_vehicle_info": {
            "id": 37519,
            "type": "vehicle.ford.mustang",
            "location": [
                655.5183715820312,
                4296.9931640625,
                369.9817810058594
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 37519,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 655.5183715820312,
                        "y": 4296.9931640625,
                        "z": 369.9817810058594
                    },
                    "rotation": {
                        "roll": 1.0422190194203651e-10,
                        "pitch": -0.30624517798423767,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37518,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 655.4991455078125,
                        "y": 4293.7431640625,
                        "z": 369.9817810058594
                    },
                    "rotation": {
                        "roll": 1.0422190194203651e-10,
                        "pitch": -0.30624517798423767,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.1025436520576477,
                "transform": {
                    "location": {
                        "x": 762.8301391601562,
                        "y": 4285.6904296875,
                        "z": 369.2929992675781
                    },
                    "rotation": {
                        "roll": -0.0005187983624637127,
                        "pitch": 0.3847103714942932,
                        "yaw": 176.17250061035156
                    }
                },
                "velocity": {
                    "x": 0.000690049899276346,
                    "y": -9.282471728511155e-05,
                    "z": 0.10254128277301788
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.061174292117357254,
                "transform": {
                    "location": {
                        "x": 747.9963989257812,
                        "y": 4286.4599609375,
                        "z": 369.3731689453125
                    },
                    "rotation": {
                        "roll": 0.000871284632012248,
                        "pitch": 0.34060102701187134,
                        "yaw": 177.89122009277344
                    }
                },
                "velocity": {
                    "x": 0.00037549142143689096,
                    "y": -8.296708074340131e-06,
                    "z": 0.06117313727736473
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0274041835218668,
                "transform": {
                    "location": {
                        "x": 718.15185546875,
                        "y": 4286.8720703125,
                        "z": 369.56365966796875
                    },
                    "rotation": {
                        "roll": -0.0008850098238326609,
                        "pitch": 0.33960381150245667,
                        "yaw": 179.66160583496094
                    }
                },
                "velocity": {
                    "x": 0.0001842377969296649,
                    "y": -0.00012511353997979313,
                    "z": 0.027403278276324272
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.02493421360850334,
                "transform": {
                    "location": {
                        "x": 703.15234375,
                        "y": 4286.9609375,
                        "z": 369.6972961425781
                    },
                    "rotation": {
                        "roll": 0.001135597936809063,
                        "pitch": 0.3331014811992645,
                        "yaw": 179.66162109375
                    }
                },
                "velocity": {
                    "x": 0.000176285466295667,
                    "y": -4.4604203139897436e-05,
                    "z": 0.024933550506830215
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.09441056847572327,
                "transform": {
                    "location": {
                        "x": 763.047119140625,
                        "y": 4288.93310546875,
                        "z": 369.30328369140625
                    },
                    "rotation": {
                        "roll": -0.0006103515625,
                        "pitch": 0.3812406361103058,
                        "yaw": 176.1725311279297
                    }
                },
                "velocity": {
                    "x": 0.0006493785767816007,
                    "y": -0.00010532941087149084,
                    "z": 0.09440827369689941
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.09427197277545929,
                "transform": {
                    "location": {
                        "x": 748.116455078125,
                        "y": 4289.70751953125,
                        "z": 369.3948059082031
                    },
                    "rotation": {
                        "roll": -0.00115966796875,
                        "pitch": 0.3332790732383728,
                        "yaw": 177.8912811279297
                    }
                },
                "velocity": {
                    "x": 0.0005661581526510417,
                    "y": -8.152468217303976e-05,
                    "z": 0.0942702367901802
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.024769581854343414,
                "transform": {
                    "location": {
                        "x": 718.1713256835938,
                        "y": 4290.1220703125,
                        "z": 369.610107421875
                    },
                    "rotation": {
                        "roll": 0.0018934343243017793,
                        "pitch": 0.3349592983722687,
                        "yaw": 179.66162109375
                    }
                },
                "velocity": {
                    "x": 0.0001544644619571045,
                    "y": 0.00035380563349463046,
                    "z": 0.024766573682427406
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37510,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.1063017025589943,
                "transform": {
                    "location": {
                        "x": 703.17138671875,
                        "y": 4290.2109375,
                        "z": 369.6437683105469
                    },
                    "rotation": {
                        "roll": -0.00299072265625,
                        "pitch": 0.33179691433906555,
                        "yaw": 179.66162109375
                    }
                },
                "velocity": {
                    "x": 0.0006267820717766881,
                    "y": -0.00017751703853718936,
                    "z": 0.10629970580339432
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.057063329964876175,
                "transform": {
                    "location": {
                        "x": 642.4939575195312,
                        "y": 4286.181640625,
                        "z": 370.02734375
                    },
                    "rotation": {
                        "roll": 0.018715541809797287,
                        "pitch": 0.2854540944099426,
                        "yaw": 179.66146850585938
                    }
                },
                "velocity": {
                    "x": -0.0005597444251179695,
                    "y": -0.0009280548547394574,
                    "z": -0.057053036987781525
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0003762336273211986,
        "expert_target_speed": 1.0059192385914,
        "target_point": [
            51.5434274281673,
            0.03883441522333281
        ],
        "target_point_next": [
            102.54339036942324,
            0.07697647931731266
        ]
    },
    "15": {
        "acceleration": [
            -2.7157357180840336e-05,
            0.002343195490539074,
            0.00783523079007864
        ],
        "angular_velocity": [
            -0.01987740583717823,
            -0.00943956058472395,
            0.00020110065815970302
        ],
        "forward_vector": [
            -0.9999600052833557,
            0.006664736196398735,
            0.005963290110230446
        ],
        "right_vector": [
            -0.00666485819965601,
            -0.9999777674674988,
            -6.627396373914962e-07
        ],
        "location": [
            733.0796508789062,
            4286.78369140625,
            369.48883056640625
        ],
        "rotation": [
            3.797285899054259e-05,
            0.3416733741760254,
            179.61813354492188
        ],
        "velocity": [
            -7.248557722050464e-06,
            6.139968172647059e-05,
            0.0020443755201995373
        ],
        "speed": 6.182606655094421e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 76.16633605957031,
        "front_vehicle_info": {
            "id": 37519,
            "type": "vehicle.ford.mustang",
            "location": [
                657.6002807617188,
                4296.98046875,
                369.9375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 37519,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 657.6002807617188,
                        "y": 4296.98046875,
                        "z": 369.9375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.30904555320739746,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37518,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 657.5810546875,
                        "y": 4293.73046875,
                        "z": 369.9375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.30904555320739746,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.023524481803178787,
                "transform": {
                    "location": {
                        "x": 762.8301391601562,
                        "y": 4285.6904296875,
                        "z": 369.3082580566406
                    },
                    "rotation": {
                        "roll": 7.595754595968174e-06,
                        "pitch": 0.3843074142932892,
                        "yaw": 176.1725311279297
                    }
                },
                "velocity": {
                    "x": 0.0001689358032308519,
                    "y": 2.7320020308252424e-05,
                    "z": 0.023523859679698944
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.1389744132757187,
                "transform": {
                    "location": {
                        "x": 747.9893798828125,
                        "y": 4286.4599609375,
                        "z": 369.4047546386719
                    },
                    "rotation": {
                        "roll": -0.0006713866023346782,
                        "pitch": 0.3541930913925171,
                        "yaw": 177.89453125
                    }
                },
                "velocity": {
                    "x": -0.08124236017465591,
                    "y": 0.0009029434877447784,
                    "z": 0.1127508357167244
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.8802815675735474,
                "transform": {
                    "location": {
                        "x": 718.0856323242188,
                        "y": 4286.87158203125,
                        "z": 369.571044921875
                    },
                    "rotation": {
                        "roll": -0.00921630673110485,
                        "pitch": 0.5455613136291504,
                        "yaw": 179.6595916748047
                    }
                },
                "velocity": {
                    "x": -0.87979656457901,
                    "y": -0.005085095763206482,
                    "z": 0.02877085655927658
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.9055242538452148,
                "transform": {
                    "location": {
                        "x": 703.0865478515625,
                        "y": 4286.96044921875,
                        "z": 369.70068359375
                    },
                    "rotation": {
                        "roll": -0.0016479491023346782,
                        "pitch": 0.4072636663913727,
                        "yaw": 179.68353271484375
                    }
                },
                "velocity": {
                    "x": -0.9053999781608582,
                    "y": -0.007333825808018446,
                    "z": 0.013086671940982342
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.020953742787241936,
                "transform": {
                    "location": {
                        "x": 763.047119140625,
                        "y": 4288.93310546875,
                        "z": 369.3172302246094
                    },
                    "rotation": {
                        "roll": -0.0003662094532046467,
                        "pitch": 0.38114503026008606,
                        "yaw": 176.1725311279297
                    }
                },
                "velocity": {
                    "x": 0.00015021853323560208,
                    "y": -0.0001034343586070463,
                    "z": 0.020952949300408363
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.020843490958213806,
                "transform": {
                    "location": {
                        "x": 748.116455078125,
                        "y": 4289.70751953125,
                        "z": 369.40875244140625
                    },
                    "rotation": {
                        "roll": -0.0012512201210483909,
                        "pitch": 0.3332858979701996,
                        "yaw": 177.8913116455078
                    }
                },
                "velocity": {
                    "x": 0.00014303937496151775,
                    "y": 6.13619340583682e-05,
                    "z": 0.020842909812927246
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.9213072061538696,
                "transform": {
                    "location": {
                        "x": 718.1052856445312,
                        "y": 4290.12158203125,
                        "z": 369.6134948730469
                    },
                    "rotation": {
                        "roll": -0.002807616489008069,
                        "pitch": 0.40968838334083557,
                        "yaw": 179.68809509277344
                    }
                },
                "velocity": {
                    "x": -0.9211761951446533,
                    "y": -0.007747138384729624,
                    "z": 0.013466023840010166
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37510,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.02309280075132847,
                "transform": {
                    "location": {
                        "x": 703.17138671875,
                        "y": 4290.2109375,
                        "z": 369.65948486328125
                    },
                    "rotation": {
                        "roll": -0.0018310546875,
                        "pitch": 0.33230918645858765,
                        "yaw": 179.66168212890625
                    }
                },
                "velocity": {
                    "x": 0.00014444772386923432,
                    "y": -3.2976691727526486e-05,
                    "z": 0.023092325776815414
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.05881591513752937,
                "transform": {
                    "location": {
                        "x": 642.493896484375,
                        "y": 4286.181640625,
                        "z": 370.0079345703125
                    },
                    "rotation": {
                        "roll": 0.006253334693610668,
                        "pitch": 0.29145780205726624,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": -0.0001237491815118119,
                    "y": 0.0006633757147938013,
                    "z": -0.05881204456090927
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.003448472125455737,
        "expert_target_speed": 1.0026707100130305,
        "target_point": [
            51.5434274281673,
            0.03883441522333281
        ],
        "target_point_next": [
            102.54339036942324,
            0.07697647931731266
        ]
    },
    "20": {
        "acceleration": [
            -0.0005187719943933189,
            0.0010536464396864176,
            -0.004899443592876196
        ],
        "angular_velocity": [
            -0.004818133544176817,
            -0.007810870185494423,
            0.00010976402700180188
        ],
        "forward_vector": [
            -0.9999600052833557,
            0.006663782522082329,
            0.005964004900306463
        ],
        "right_vector": [
            -0.006663929205387831,
            -0.9999777674674988,
            -4.739234555017902e-06
        ],
        "location": [
            733.0796508789062,
            4286.78369140625,
            369.4891662597656
        ],
        "rotation": [
            0.0002715429582167417,
            0.34171435236930847,
            179.61817932128906
        ],
        "velocity": [
            -3.6779044876311673e-06,
            1.4209325854608323e-05,
            0.0017489552265033126
        ],
        "speed": 1.4677599349436475e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 74.10096740722656,
        "front_vehicle_info": {
            "id": 37519,
            "type": "vehicle.ford.mustang",
            "location": [
                659.6831665039062,
                4296.96826171875,
                369.9178466796875
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 37519,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 659.6831665039062,
                        "y": 4296.96826171875,
                        "z": 369.9178466796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.30904555320739746,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37518,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 659.6638793945312,
                        "y": 4293.71826171875,
                        "z": 369.9178466796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.30904555320739746,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9624414443969727,
                "transform": {
                    "location": {
                        "x": 762.6216430664062,
                        "y": 4285.701171875,
                        "z": 369.31097412109375
                    },
                    "rotation": {
                        "roll": -0.00262451171875,
                        "pitch": 0.4233282804489136,
                        "yaw": 176.26351928710938
                    }
                },
                "velocity": {
                    "x": -1.9601579904556274,
                    "y": 0.09399950504302979,
                    "z": 0.01101123820990324
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.7023549675941467,
                "transform": {
                    "location": {
                        "x": 747.8656616210938,
                        "y": 4286.46240234375,
                        "z": 369.416015625
                    },
                    "rotation": {
                        "roll": -0.007965087890625,
                        "pitch": 0.4783249497413635,
                        "yaw": 177.92434692382812
                    }
                },
                "velocity": {
                    "x": -0.7022427320480347,
                    "y": 0.012511569075286388,
                    "z": 0.0010335540864616632
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.8672748804092407,
                "transform": {
                    "location": {
                        "x": 717.7289428710938,
                        "y": 4286.8701171875,
                        "z": 369.5760192871094
                    },
                    "rotation": {
                        "roll": -0.014770508743822575,
                        "pitch": 0.7257280349731445,
                        "yaw": 179.80140686035156
                    }
                },
                "velocity": {
                    "x": -1.8671436309814453,
                    "y": -0.011976280249655247,
                    "z": 0.018614167347550392
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.8437989950180054,
                "transform": {
                    "location": {
                        "x": 702.7273559570312,
                        "y": 4286.958984375,
                        "z": 369.7033996582031
                    },
                    "rotation": {
                        "roll": -0.0011901853140443563,
                        "pitch": 0.4365173578262329,
                        "yaw": 179.8267822265625
                    }
                },
                "velocity": {
                    "x": -1.8436987400054932,
                    "y": -0.015339852310717106,
                    "z": 0.011584796942770481
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1327996253967285,
                "transform": {
                    "location": {
                        "x": 762.8187255859375,
                        "y": 4288.9443359375,
                        "z": 369.3216857910156
                    },
                    "rotation": {
                        "roll": 0.009196165949106216,
                        "pitch": 0.19323286414146423,
                        "yaw": 176.25099182128906
                    }
                },
                "velocity": {
                    "x": -2.1304445266723633,
                    "y": 0.09921599179506302,
                    "z": 0.013990955427289009
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1806137561798096,
                "transform": {
                    "location": {
                        "x": 747.890625,
                        "y": 4289.712890625,
                        "z": 369.4130859375
                    },
                    "rotation": {
                        "roll": 0.009538781829178333,
                        "pitch": 0.14528495073318481,
                        "yaw": 178.08070373535156
                    }
                },
                "velocity": {
                    "x": -2.1803085803985596,
                    "y": 0.03475413843989372,
                    "z": 0.011095733381807804
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.872437596321106,
                "transform": {
                    "location": {
                        "x": 717.7435913085938,
                        "y": 4290.1201171875,
                        "z": 369.6162109375
                    },
                    "rotation": {
                        "roll": -0.00146484375,
                        "pitch": 0.43943384289741516,
                        "yaw": 179.81565856933594
                    }
                },
                "velocity": {
                    "x": -1.8723291158676147,
                    "y": -0.016089793294668198,
                    "z": 0.012134618125855923
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37510,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.1024563312530518,
                "transform": {
                    "location": {
                        "x": 703.0511474609375,
                        "y": 4290.21044921875,
                        "z": 369.66143798828125
                    },
                    "rotation": {
                        "roll": -0.0027465815655887127,
                        "pitch": 0.36385098099708557,
                        "yaw": 179.70703125
                    }
                },
                "velocity": {
                    "x": -1.1024144887924194,
                    "y": -0.00721356738358736,
                    "z": 0.006342162843793631
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.006155104376375675,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0027160644531
                    },
                    "rotation": {
                        "roll": -0.0016174311749637127,
                        "pitch": 0.3038546144962311,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 6.35122851235792e-05,
                    "y": -2.5314999220427126e-05,
                    "z": 0.006154724396765232
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0009744166163727641,
        "expert_target_speed": 1.0180141764553279,
        "target_point": [
            51.54342746517924,
            0.03878525958039736
        ],
        "target_point_next": [
            102.5433904427871,
            0.07687868631956518
        ]
    },
    "25": {
        "acceleration": [
            -0.0004094868781976402,
            0.0008146618492901325,
            0.007238464895635843
        ],
        "angular_velocity": [
            -0.013829519972205162,
            -0.006621724460273981,
            0.00016442796913906932
        ],
        "forward_vector": [
            -0.9999600052833557,
            0.006663782522082329,
            0.00595887890085578
        ],
        "right_vector": [
            -0.006663998123258352,
            -0.9999777674674988,
            -1.6305233657476492e-05
        ],
        "location": [
            733.0796508789062,
            4286.78369140625,
            369.48919677734375
        ],
        "rotation": [
            0.000934237614274025,
            0.34142065048217773,
            179.61817932128906
        ],
        "velocity": [
            -3.0439346687671787e-07,
            4.50433035439346e-05,
            0.0016590086743235588
        ],
        "speed": 4.504433204670382e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 72.03668975830078,
        "front_vehicle_info": {
            "id": 37519,
            "type": "vehicle.ford.mustang",
            "location": [
                661.7659912109375,
                4296.9560546875,
                369.90142822265625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 37519,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 661.7659912109375,
                        "y": 4296.9560546875,
                        "z": 369.90142822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3118595778942108,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37518,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 661.7467651367188,
                        "y": 4293.7060546875,
                        "z": 369.90142822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3118595778942108,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.954958200454712,
                "transform": {
                    "location": {
                        "x": 761.99169921875,
                        "y": 4285.73388671875,
                        "z": 369.3148498535156
                    },
                    "rotation": {
                        "roll": 0.000642845465335995,
                        "pitch": 0.410419225692749,
                        "yaw": 176.56158447265625
                    }
                },
                "velocity": {
                    "x": -2.951572895050049,
                    "y": 0.14024300873279572,
                    "z": 0.018084602430462837
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.6119256019592285,
                "transform": {
                    "location": {
                        "x": 747.5776977539062,
                        "y": 4286.4697265625,
                        "z": 369.41259765625
                    },
                    "rotation": {
                        "roll": -0.009582518599927425,
                        "pitch": 0.5344759225845337,
                        "yaw": 178.0966796875
                    }
                },
                "velocity": {
                    "x": -1.611609935760498,
                    "y": 0.030400477349758148,
                    "z": -0.009663152508437634
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.9849061965942383,
                "transform": {
                    "location": {
                        "x": 717.1282348632812,
                        "y": 4286.86669921875,
                        "z": 369.5803527832031
                    },
                    "rotation": {
                        "roll": -0.014343264512717724,
                        "pitch": 0.7958126068115234,
                        "yaw": 179.9939422607422
                    }
                },
                "velocity": {
                    "x": -2.984772205352783,
                    "y": -0.021640010178089142,
                    "z": 0.01820565201342106
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.9991533756256104,
                "transform": {
                    "location": {
                        "x": 702.122314453125,
                        "y": 4286.95556640625,
                        "z": 369.7068176269531
                    },
                    "rotation": {
                        "roll": -3.0517578125e-05,
                        "pitch": 0.45056024193763733,
                        "yaw": -179.98480224609375
                    }
                },
                "velocity": {
                    "x": -2.9989874362945557,
                    "y": -0.02612335793673992,
                    "z": 0.017652425915002823
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.3427064418792725,
                "transform": {
                    "location": {
                        "x": 762.1182861328125,
                        "y": 4288.97900390625,
                        "z": 369.32562255859375
                    },
                    "rotation": {
                        "roll": 0.007742029149085283,
                        "pitch": 0.23228788375854492,
                        "yaw": 176.57057189941406
                    }
                },
                "velocity": {
                    "x": -3.3390941619873047,
                    "y": 0.15403757989406586,
                    "z": 0.020218972116708755
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.3360886573791504,
                "transform": {
                    "location": {
                        "x": 747.1873779296875,
                        "y": 4289.7265625,
                        "z": 369.41650390625
                    },
                    "rotation": {
                        "roll": 0.006681015249341726,
                        "pitch": 0.18753649294376373,
                        "yaw": 178.37228393554688
                    }
                },
                "velocity": {
                    "x": -3.3356075286865234,
                    "y": 0.053618915379047394,
                    "z": 0.018295086920261383
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.9810941219329834,
                "transform": {
                    "location": {
                        "x": 717.1384887695312,
                        "y": 4290.11669921875,
                        "z": 369.6197509765625
                    },
                    "rotation": {
                        "roll": -0.0022583005484193563,
                        "pitch": 0.4510451853275299,
                        "yaw": 179.99435424804688
                    }
                },
                "velocity": {
                    "x": -2.9809346199035645,
                    "y": -0.02512659691274166,
                    "z": 0.017862863838672638
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37510,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.7386195659637451,
                "transform": {
                    "location": {
                        "x": 702.6842041015625,
                        "y": 4290.208984375,
                        "z": 369.6632995605469
                    },
                    "rotation": {
                        "roll": -0.0016174311749637127,
                        "pitch": 0.35850977897644043,
                        "yaw": 179.81295776367188
                    }
                },
                "velocity": {
                    "x": -1.7385467290878296,
                    "y": -0.013371847569942474,
                    "z": 0.008636074140667915
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0003379893605597317,
        "expert_target_speed": 1.0395220025755691,
        "target_point": [
            51.54342746517924,
            0.03878525958039736
        ],
        "target_point_next": [
            102.5433904427871,
            0.07687868631956518
        ]
    },
    "30": {
        "acceleration": [
            -0.0009576178854331374,
            0.001112110447138548,
            -0.03545176237821579
        ],
        "angular_velocity": [
            0.0,
            0.0,
            0.0
        ],
        "forward_vector": [
            -0.9999601244926453,
            0.0066635445691645145,
            0.005954944994300604
        ],
        "right_vector": [
            -0.006663759239017963,
            -0.9999778270721436,
            -1.6256553863058798e-05
        ],
        "location": [
            733.0796508789062,
            4286.78369140625,
            369.48931884765625
        ],
        "rotation": [
            0.0009314483613707125,
            0.3411952555179596,
            179.61819458007812
        ],
        "velocity": [
            0.0,
            0.0,
            0.0
        ],
        "speed": 0.0,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 69.9734878540039,
        "front_vehicle_info": {
            "id": 37519,
            "type": "vehicle.ford.mustang",
            "location": [
                663.848876953125,
                4296.94384765625,
                369.8895568847656
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 37519,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 663.848876953125,
                        "y": 4296.94384765625,
                        "z": 369.8895568847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3118595778942108,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37518,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 663.8296508789062,
                        "y": 4293.69384765625,
                        "z": 369.8895568847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3118595778942108,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.7215301990509033,
                "transform": {
                    "location": {
                        "x": 761.1531982421875,
                        "y": 4285.77587890625,
                        "z": 369.3203430175781
                    },
                    "rotation": {
                        "roll": 0.0018736777128651738,
                        "pitch": 0.39598703384399414,
                        "yaw": 176.84603881835938
                    }
                },
                "velocity": {
                    "x": -3.7173964977264404,
                    "y": 0.17370493710041046,
                    "z": 0.024015702307224274
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.12589955329895,
                "transform": {
                    "location": {
                        "x": 747.0094604492188,
                        "y": 4286.48193359375,
                        "z": 369.4127502441406
                    },
                    "rotation": {
                        "roll": -0.013244626112282276,
                        "pitch": 0.6452479362487793,
                        "yaw": 178.36044311523438
                    }
                },
                "velocity": {
                    "x": -3.1253464221954346,
                    "y": 0.055956415832042694,
                    "z": 0.01808849349617958
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.384318828582764,
                "transform": {
                    "location": {
                        "x": 716.195068359375,
                        "y": 4286.8603515625,
                        "z": 369.5854187011719
                    },
                    "rotation": {
                        "roll": -0.013763426803052425,
                        "pitch": 0.9122331738471985,
                        "yaw": -179.8003692626953
                    }
                },
                "velocity": {
                    "x": -4.384103775024414,
                    "y": -0.03520318120718002,
                    "z": 0.025385074317455292
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.374879837036133,
                "transform": {
                    "location": {
                        "x": 701.1904296875,
                        "y": 4286.94921875,
                        "z": 369.71197509765625
                    },
                    "rotation": {
                        "roll": 0.0004474956658668816,
                        "pitch": 0.4760231673717499,
                        "yaw": -179.7861785888672
                    }
                },
                "velocity": {
                    "x": -4.374629974365234,
                    "y": -0.039465732872486115,
                    "z": 0.024999350309371948
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.465246200561523,
                "transform": {
                    "location": {
                        "x": 761.137939453125,
                        "y": 4289.02685546875,
                        "z": 369.3317565917969
                    },
                    "rotation": {
                        "roll": 0.006022654939442873,
                        "pitch": 0.25584521889686584,
                        "yaw": 176.87184143066406
                    }
                },
                "velocity": {
                    "x": -4.460405349731445,
                    "y": 0.20574620366096497,
                    "z": 0.029574546962976456
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.471312999725342,
                "transform": {
                    "location": {
                        "x": 746.2045288085938,
                        "y": 4289.7451171875,
                        "z": 369.4219055175781
                    },
                    "rotation": {
                        "roll": 0.006520191207528114,
                        "pitch": 0.2156495451927185,
                        "yaw": 178.64529418945312
                    }
                },
                "velocity": {
                    "x": -4.470666885375977,
                    "y": 0.07140378654003143,
                    "z": 0.026057662442326546
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.370018482208252,
                "transform": {
                    "location": {
                        "x": 716.2079467773438,
                        "y": 4290.1103515625,
                        "z": 369.6249084472656
                    },
                    "rotation": {
                        "roll": -0.0015563966007903218,
                        "pitch": 0.47869378328323364,
                        "yaw": -179.80140686035156
                    }
                },
                "velocity": {
                    "x": -4.369767189025879,
                    "y": -0.03906865790486336,
                    "z": 0.02586238831281662
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37510,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.253244638442993,
                "transform": {
                    "location": {
                        "x": 702.1843872070312,
                        "y": 4290.20654296875,
                        "z": 369.66619873046875
                    },
                    "rotation": {
                        "roll": -0.0008850098238326609,
                        "pitch": 0.35028624534606934,
                        "yaw": 179.96206665039062
                    }
                },
                "velocity": {
                    "x": -2.253136396408081,
                    "y": -0.018017632886767387,
                    "z": 0.01277344673871994
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0025467844679951668,
        "expert_target_speed": 1.0643589458714138,
        "target_point": [
            51.543427483667635,
            0.03876068175891639
        ],
        "target_point_next": [
            102.54339047943407,
            0.07682978982066513
        ]
    },
    "35": {
        "acceleration": [
            0.00045862424303777516,
            -0.0019309797789901495,
            0.0025297794491052628
        ],
        "angular_velocity": [
            0.005833832547068596,
            0.0007685767486691475,
            4.833409548155032e-05
        ],
        "forward_vector": [
            -0.9999601244926453,
            0.0066635445691645145,
            0.005954944994300604
        ],
        "right_vector": [
            -0.006663759239017963,
            -0.9999778270721436,
            -1.6256553863058798e-05
        ],
        "location": [
            733.0796508789062,
            4286.78369140625,
            369.48931884765625
        ],
        "rotation": [
            0.0009314483613707125,
            0.3411952555179596,
            179.61819458007812
        ],
        "velocity": [
            2.092819704557769e-05,
            -3.3116917620645836e-05,
            0.0011965602170675993
        ],
        "speed": 3.917549826449141e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 67.97579193115234,
        "front_vehicle_info": {
            "id": 37519,
            "type": "vehicle.ford.mustang",
            "location": [
                665.868408203125,
                4296.94287109375,
                369.87408447265625
            ],
            "velocity": [
                8.055631637573242,
                0.04458218812942505,
                -0.057188842445611954
            ],
            "speed_kmh": 29.001448781612382,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 37519,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.05595874786377,
                "transform": {
                    "location": {
                        "x": 665.868408203125,
                        "y": 4296.94287109375,
                        "z": 369.87408447265625
                    },
                    "rotation": {
                        "roll": -0.007232664618641138,
                        "pitch": -0.3161626160144806,
                        "yaw": 0.06552726775407791
                    }
                },
                "velocity": {
                    "x": 8.055631637573242,
                    "y": 0.04458218812942505,
                    "z": -0.057188842445611954
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37518,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.046765327453613,
                "transform": {
                    "location": {
                        "x": 665.8673095703125,
                        "y": 4293.6943359375,
                        "z": 369.8813171386719
                    },
                    "rotation": {
                        "roll": -0.0568847618997097,
                        "pitch": -0.3480527698993683,
                        "yaw": 0.07085400074720383
                    }
                },
                "velocity": {
                    "x": 8.046582221984863,
                    "y": 0.04415159299969673,
                    "z": -0.03144945949316025
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.451961517333984,
                "transform": {
                    "location": {
                        "x": 760.1292114257812,
                        "y": 4285.8251953125,
                        "z": 369.3271484375
                    },
                    "rotation": {
                        "roll": 0.0038021302316337824,
                        "pitch": 0.38960763812065125,
                        "yaw": 177.0806427001953
                    }
                },
                "velocity": {
                    "x": -4.44717264175415,
                    "y": 0.20432931184768677,
                    "z": 0.02949841506779194
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.013422966003418,
                "transform": {
                    "location": {
                        "x": 745.9855346679688,
                        "y": 4286.501953125,
                        "z": 369.4181823730469
                    },
                    "rotation": {
                        "roll": -0.011657713912427425,
                        "pitch": 0.7981348633766174,
                        "yaw": 178.63963317871094
                    }
                },
                "velocity": {
                    "x": -5.012607574462891,
                    "y": 0.08461152017116547,
                    "z": 0.031883981078863144
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.411758899688721,
                "transform": {
                    "location": {
                        "x": 714.939697265625,
                        "y": 4286.85498046875,
                        "z": 369.59320068359375
                    },
                    "rotation": {
                        "roll": 0.01933136209845543,
                        "pitch": 0.8842430710792542,
                        "yaw": -179.8705291748047
                    }
                },
                "velocity": {
                    "x": -5.411653995513916,
                    "y": -0.010935147292912006,
                    "z": 0.03186902031302452
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.324244499206543,
                "transform": {
                    "location": {
                        "x": 699.9428100585938,
                        "y": 4286.9453125,
                        "z": 369.7197265625
                    },
                    "rotation": {
                        "roll": 0.008706972002983093,
                        "pitch": 0.4497884213924408,
                        "yaw": -179.79385375976562
                    }
                },
                "velocity": {
                    "x": -5.3241424560546875,
                    "y": -0.008787357248365879,
                    "z": 0.03175091743469238
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.2888503074646,
                "transform": {
                    "location": {
                        "x": 759.8945922851562,
                        "y": 4289.0859375,
                        "z": 369.3399658203125
                    },
                    "rotation": {
                        "roll": 0.005559108220040798,
                        "pitch": 0.2765201926231384,
                        "yaw": 177.10623168945312
                    }
                },
                "velocity": {
                    "x": -5.283191204071045,
                    "y": 0.24199631810188293,
                    "z": 0.03557756170630455
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.285097122192383,
                "transform": {
                    "location": {
                        "x": 744.95654296875,
                        "y": 4289.76611328125,
                        "z": 369.42919921875
                    },
                    "rotation": {
                        "roll": 0.004804009571671486,
                        "pitch": 0.24019725620746613,
                        "yaw": 178.82749938964844
                    }
                },
                "velocity": {
                    "x": -5.284327507019043,
                    "y": 0.08415006101131439,
                    "z": 0.03240690007805824
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.3108439445495605,
                "transform": {
                    "location": {
                        "x": 714.9620361328125,
                        "y": 4290.10595703125,
                        "z": 369.6326904296875
                    },
                    "rotation": {
                        "roll": 0.009589609690010548,
                        "pitch": 0.45263659954071045,
                        "yaw": -179.83421325683594
                    }
                },
                "velocity": {
                    "x": -5.310747146606445,
                    "y": -0.008863654918968678,
                    "z": 0.030809134244918823
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37510,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.81040620803833,
                "transform": {
                    "location": {
                        "x": 701.54833984375,
                        "y": 4290.20263671875,
                        "z": 369.6699523925781
                    },
                    "rotation": {
                        "roll": 0.0005600251606665552,
                        "pitch": 0.3497466444969177,
                        "yaw": -179.87600708007812
                    }
                },
                "velocity": {
                    "x": -2.8102612495422363,
                    "y": -0.024291157722473145,
                    "z": 0.015007228590548038
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.002608230337500572,
        "expert_target_speed": 1.0912303333320714,
        "target_point": [
            51.543427483667635,
            0.03876068175891639
        ],
        "target_point_next": [
            102.54339047943407,
            0.07682978982066513
        ]
    },
    "40": {
        "acceleration": [
            -3.2608747482299805,
            0.021402500569820404,
            0.006155781447887421
        ],
        "angular_velocity": [
            -0.04429754614830017,
            0.6934501528739929,
            1.0635637044906616
        ],
        "forward_vector": [
            -0.9999158978462219,
            0.006351411808282137,
            0.011310574598610401
        ],
        "right_vector": [
            -0.006352005526423454,
            -0.9999798536300659,
            -1.658757719269488e-05
        ],
        "location": [
            732.909912109375,
            4286.78515625,
            369.4893798828125
        ],
        "rotation": [
            0.000950458983425051,
            0.648061990737915,
            179.6360626220703
        ],
        "velocity": [
            -1.205475926399231,
            0.008811581879854202,
            0.006419086363166571
        ],
        "speed": 1.2055081306666122,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 65.81462860107422,
        "front_vehicle_info": {
            "id": 37519,
            "type": "vehicle.ford.mustang",
            "location": [
                667.88623046875,
                4296.951171875,
                369.8617248535156
            ],
            "velocity": [
                8.085064888000488,
                0.029939740896224976,
                -0.045740436762571335
            ],
            "speed_kmh": 29.106898943925447,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 37519,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.085248947143555,
                "transform": {
                    "location": {
                        "x": 667.88623046875,
                        "y": 4296.951171875,
                        "z": 369.8617248535156
                    },
                    "rotation": {
                        "roll": -0.002685546875,
                        "pitch": -0.31390181183815,
                        "yaw": 0.28379473090171814
                    }
                },
                "velocity": {
                    "x": 8.085064888000488,
                    "y": 0.029939740896224976,
                    "z": -0.045740436762571335
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37518,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.273276329040527,
                "transform": {
                    "location": {
                        "x": 667.9088745117188,
                        "y": 4293.70166015625,
                        "z": 369.87139892578125
                    },
                    "rotation": {
                        "roll": -0.00012207032705191523,
                        "pitch": -0.3121669590473175,
                        "yaw": 0.29141145944595337
                    }
                },
                "velocity": {
                    "x": 8.273103713989258,
                    "y": 0.02926020137965679,
                    "z": -0.04474995657801628
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.198419094085693,
                "transform": {
                    "location": {
                        "x": 758.9177856445312,
                        "y": 4285.88232421875,
                        "z": 369.3351745605469
                    },
                    "rotation": {
                        "roll": 0.0023308543022722006,
                        "pitch": 0.38381561636924744,
                        "yaw": 177.24977111816406
                    }
                },
                "velocity": {
                    "x": -5.192943572998047,
                    "y": 0.23608581721782684,
                    "z": 0.03404930979013443
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.3736629784107208,
                "transform": {
                    "location": {
                        "x": 745.1633911132812,
                        "y": 4286.51318359375,
                        "z": 369.4324951171875
                    },
                    "rotation": {
                        "roll": 0.020963484421372414,
                        "pitch": -0.3235187232494354,
                        "yaw": 178.4874725341797
                    }
                },
                "velocity": {
                    "x": -0.3736533522605896,
                    "y": -0.0018799739191308618,
                    "z": 0.0019164085388183594
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.235318660736084,
                "transform": {
                    "location": {
                        "x": 713.55419921875,
                        "y": 4286.8525390625,
                        "z": 369.60186767578125
                    },
                    "rotation": {
                        "roll": 0.01583186723291874,
                        "pitch": 0.7170127034187317,
                        "yaw": -179.9879913330078
                    }
                },
                "velocity": {
                    "x": -6.235206604003906,
                    "y": -0.006532677914947271,
                    "z": 0.036835458129644394
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.573041915893555,
                "transform": {
                    "location": {
                        "x": 698.5835571289062,
                        "y": 4286.943359375,
                        "z": 369.72802734375
                    },
                    "rotation": {
                        "roll": 0.005704930983483791,
                        "pitch": 0.3880230188369751,
                        "yaw": -179.76416015625
                    }
                },
                "velocity": {
                    "x": -5.57294225692749,
                    "y": -0.010125351138412952,
                    "z": 0.03171096742153168
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.735456466674805,
                "transform": {
                    "location": {
                        "x": 758.5300903320312,
                        "y": 4289.14990234375,
                        "z": 369.3482971191406
                    },
                    "rotation": {
                        "roll": 0.005324273370206356,
                        "pitch": 0.30017995834350586,
                        "yaw": 177.29974365234375
                    }
                },
                "velocity": {
                    "x": -5.729562759399414,
                    "y": 0.25769102573394775,
                    "z": 0.03417787328362465
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.711518287658691,
                "transform": {
                    "location": {
                        "x": 743.595458984375,
                        "y": 4289.7890625,
                        "z": 369.4368591308594
                    },
                    "rotation": {
                        "roll": 0.005426398012787104,
                        "pitch": 0.2827083468437195,
                        "yaw": 178.96971130371094
                    }
                },
                "velocity": {
                    "x": -5.710806846618652,
                    "y": 0.08388219773769379,
                    "z": 0.032985057681798935
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.791581869125366,
                "transform": {
                    "location": {
                        "x": 713.7154541015625,
                        "y": 4290.1025390625,
                        "z": 369.6412353515625
                    },
                    "rotation": {
                        "roll": 0.0062414915300905704,
                        "pitch": 0.2548002004623413,
                        "yaw": -179.97341918945312
                    }
                },
                "velocity": {
                    "x": -3.79152250289917,
                    "y": -0.004075090866535902,
                    "z": 0.02085009589791298
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37510,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.4125113487243652,
                "transform": {
                    "location": {
                        "x": 700.7705078125,
                        "y": 4290.1982421875,
                        "z": 369.6744384765625
                    },
                    "rotation": {
                        "roll": 0.0037837540730834007,
                        "pitch": 0.3515361547470093,
                        "yaw": -179.77566528320312
                    }
                },
                "velocity": {
                    "x": -3.412445068359375,
                    "y": -0.010269862599670887,
                    "z": 0.018618058413267136
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.00032906720298342407,
        "expert_target_speed": 2.3059830988184657,
        "target_point": [
            51.37369240424521,
            0.02309801438153447
        ],
        "target_point_next": [
            102.37366478143737,
            0.045287024496952766
        ]
    },
    "45": {
        "acceleration": [
            -3.4569931030273438,
            0.023437049239873886,
            0.01660844311118126
        ],
        "angular_velocity": [
            0.03898030146956444,
            0.04699961468577385,
            0.40377628803253174
        ],
        "forward_vector": [
            -0.9999088644981384,
            0.005697420332580805,
            0.012239745818078518
        ],
        "right_vector": [
            -0.005697599612176418,
            -0.9999837875366211,
            2.0238509023329243e-05
        ],
        "location": [
            732.4973754882812,
            4286.7880859375,
            369.4915466308594
        ],
        "rotation": [
            -0.0011596680851653218,
            0.7013033032417297,
            179.6735382080078
        ],
        "velocity": [
            -2.0279746055603027,
            0.013997670263051987,
            0.01075525302439928
        ],
        "speed": 2.028022912979599,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 63.41731262207031,
        "front_vehicle_info": {
            "id": 37519,
            "type": "vehicle.ford.mustang",
            "location": [
                669.90185546875,
                4296.9580078125,
                369.8507385253906
            ],
            "velocity": [
                8.041783332824707,
                0.021257927641272545,
                -0.044585056602954865
            ],
            "speed_kmh": 28.95096607937615,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 37519,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.041934967041016,
                "transform": {
                    "location": {
                        "x": 669.90185546875,
                        "y": 4296.9580078125,
                        "z": 369.8507385253906
                    },
                    "rotation": {
                        "roll": -0.00250244140625,
                        "pitch": -0.3135671317577362,
                        "yaw": 0.1992821842432022
                    }
                },
                "velocity": {
                    "x": 8.041783332824707,
                    "y": 0.021257927641272545,
                    "z": -0.044585056602954865
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37518,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.055225372314453,
                "transform": {
                    "location": {
                        "x": 669.94873046875,
                        "y": 4293.70849609375,
                        "z": 369.85980224609375
                    },
                    "rotation": {
                        "roll": 0.0067604840733110905,
                        "pitch": -0.31249478459358215,
                        "yaw": 0.21083275973796844
                    }
                },
                "velocity": {
                    "x": 8.055068969726562,
                    "y": 0.021401124075055122,
                    "z": -0.04538459703326225
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.264791965484619,
                "transform": {
                    "location": {
                        "x": 757.6014404296875,
                        "y": 4285.94189453125,
                        "z": 369.3435974121094
                    },
                    "rotation": {
                        "roll": 0.003823882667347789,
                        "pitch": 0.3648345470428467,
                        "yaw": 177.35755920410156
                    }
                },
                "velocity": {
                    "x": -5.259466648101807,
                    "y": 0.2344181388616562,
                    "z": 0.033071525394916534
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.2443599700927734,
                "transform": {
                    "location": {
                        "x": 744.8844604492188,
                        "y": 4286.5185546875,
                        "z": 369.4303894042969
                    },
                    "rotation": {
                        "roll": 0.006011891644448042,
                        "pitch": 0.1216183453798294,
                        "yaw": 178.5475616455078
                    }
                },
                "velocity": {
                    "x": -2.2439727783203125,
                    "y": 0.03966367244720459,
                    "z": 0.012837314046919346
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.682073593139648,
                "transform": {
                    "location": {
                        "x": 711.7977294921875,
                        "y": 4286.85107421875,
                        "z": 369.6112365722656
                    },
                    "rotation": {
                        "roll": 0.007605086080729961,
                        "pitch": 0.9264604449272156,
                        "yaw": -179.9710235595703
                    }
                },
                "velocity": {
                    "x": -7.681939125061035,
                    "y": -0.008049601688981056,
                    "z": 0.044728219509124756
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.586164474487305,
                "transform": {
                    "location": {
                        "x": 696.949462890625,
                        "y": 4286.939453125,
                        "z": 369.73626708984375
                    },
                    "rotation": {
                        "roll": 0.004801334347575903,
                        "pitch": 0.5174892544746399,
                        "yaw": -179.8553924560547
                    }
                },
                "velocity": {
                    "x": -7.586036682128906,
                    "y": -0.012432634830474854,
                    "z": 0.04223437234759331
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.132969856262207,
                "transform": {
                    "location": {
                        "x": 756.9819946289062,
                        "y": 4289.220703125,
                        "z": 369.3585205078125
                    },
                    "rotation": {
                        "roll": 0.004292186815291643,
                        "pitch": 0.22072437405586243,
                        "yaw": 177.40184020996094
                    }
                },
                "velocity": {
                    "x": -7.125746726989746,
                    "y": 0.3177978992462158,
                    "z": 0.0446748249232769
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.152634620666504,
                "transform": {
                    "location": {
                        "x": 742.0408935546875,
                        "y": 4289.8125,
                        "z": 369.44659423828125
                    },
                    "rotation": {
                        "roll": 0.0032856708858162165,
                        "pitch": 0.19471502304077148,
                        "yaw": 179.04177856445312
                    }
                },
                "velocity": {
                    "x": -7.151772975921631,
                    "y": 0.10282380878925323,
                    "z": 0.04180806875228882
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.6170775890350342,
                "transform": {
                    "location": {
                        "x": 713.3250122070312,
                        "y": 4290.1025390625,
                        "z": 369.64581298828125
                    },
                    "rotation": {
                        "roll": 0.004927413538098335,
                        "pitch": -0.002226641634479165,
                        "yaw": -179.97061157226562
                    }
                },
                "velocity": {
                    "x": -0.617064893245697,
                    "y": -0.00044369156239554286,
                    "z": 0.003937187138944864
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37510,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.219234466552734,
                "transform": {
                    "location": {
                        "x": 699.8165283203125,
                        "y": 4290.19580078125,
                        "z": 369.6798095703125
                    },
                    "rotation": {
                        "roll": 0.00335704511962831,
                        "pitch": 0.35683637857437134,
                        "yaw": -179.81971740722656
                    }
                },
                "velocity": {
                    "x": -4.219157695770264,
                    "y": -0.008086901158094406,
                    "z": 0.024142693728208542
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0016900838818401098,
        "expert_target_speed": 3.139128834833315,
        "target_point": [
            50.96114990409267,
            -0.009932578605222064
        ],
        "target_point_next": [
            101.96112588368068,
            -0.021108802420603534
        ]
    },
    "50": {
        "acceleration": [
            -4.975104331970215,
            -0.08454609662294388,
            0.025482773780822754
        ],
        "angular_velocity": [
            -0.0764247253537178,
            0.47146520018577576,
            0.6116215586662292
        ],
        "forward_vector": [
            -0.9998976588249207,
            0.0049406723119318485,
            0.013427210971713066
        ],
        "right_vector": [
            -0.004937090445309877,
            -0.9999877214431763,
            0.00029984486172907054
        ],
        "location": [
            731.8585815429688,
            4286.79052734375,
            369.4949951171875
        ],
        "rotation": [
            -0.01718139462172985,
            0.7693456411361694,
            179.71688842773438
        ],
        "velocity": [
            -3.110957384109497,
            0.0006200423813425004,
            0.017690734937787056
        ],
        "speed": 3.1109574458995675,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 60.87860107421875,
        "front_vehicle_info": {
            "id": 37519,
            "type": "vehicle.ford.mustang",
            "location": [
                671.8368530273438,
                4296.962890625,
                369.8401794433594
            ],
            "velocity": [
                7.398837089538574,
                0.0038705291226506233,
                -0.041267380118370056
            ],
            "speed_kmh": 26.63623147119824,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 37519,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.398952960968018,
                "transform": {
                    "location": {
                        "x": 671.8368530273438,
                        "y": 4296.962890625,
                        "z": 369.8401794433594
                    },
                    "rotation": {
                        "roll": -0.002777099609375,
                        "pitch": -0.3292834162712097,
                        "yaw": 0.12161242961883545
                    }
                },
                "velocity": {
                    "x": 7.398837089538574,
                    "y": 0.0038705291226506233,
                    "z": -0.041267380118370056
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37518,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.28223991394043,
                "transform": {
                    "location": {
                        "x": 671.9920043945312,
                        "y": 4293.71337890625,
                        "z": 369.8484191894531
                    },
                    "rotation": {
                        "roll": 0.005359696689993143,
                        "pitch": -0.31427064538002014,
                        "yaw": 0.12271633744239807
                    }
                },
                "velocity": {
                    "x": 8.282112121582031,
                    "y": 0.004174006637185812,
                    "z": -0.04590478166937828
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.18796539306640625,
                "transform": {
                    "location": {
                        "x": 756.9094848632812,
                        "y": 4285.97314453125,
                        "z": 369.3485107421875
                    },
                    "rotation": {
                        "roll": 0.0032302408944815397,
                        "pitch": 0.2630852162837982,
                        "yaw": 177.38333129882812
                    }
                },
                "velocity": {
                    "x": -0.18776865303516388,
                    "y": 0.008507546968758106,
                    "z": 0.0012413787189871073
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.7403095364570618,
                "transform": {
                    "location": {
                        "x": 744.3090209960938,
                        "y": 4286.52880859375,
                        "z": 369.4309997558594
                    },
                    "rotation": {
                        "roll": 0.0012304619885981083,
                        "pitch": 0.46695950627326965,
                        "yaw": 178.57833862304688
                    }
                },
                "velocity": {
                    "x": -0.740265965461731,
                    "y": 0.006630172953009605,
                    "z": 0.004525585100054741
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.546327114105225,
                "transform": {
                    "location": {
                        "x": 709.842041015625,
                        "y": 4286.85107421875,
                        "z": 369.6238098144531
                    },
                    "rotation": {
                        "roll": 0.021138150244951248,
                        "pitch": 0.585463285446167,
                        "yaw": -179.9932403564453
                    }
                },
                "velocity": {
                    "x": -7.5461907386779785,
                    "y": 0.009189454838633537,
                    "z": 0.04439432919025421
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.813806056976318,
                "transform": {
                    "location": {
                        "x": 695.133056640625,
                        "y": 4286.9375,
                        "z": 369.7482604980469
                    },
                    "rotation": {
                        "roll": 0.009131556376814842,
                        "pitch": 0.3242495656013489,
                        "yaw": -179.9492950439453
                    }
                },
                "velocity": {
                    "x": -6.813681602478027,
                    "y": 0.010046562179923058,
                    "z": 0.03994298726320267
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.515552043914795,
                "transform": {
                    "location": {
                        "x": 755.1239013671875,
                        "y": 4289.3037109375,
                        "z": 369.3692932128906
                    },
                    "rotation": {
                        "roll": 0.0026438154745846987,
                        "pitch": 0.274682879447937,
                        "yaw": 177.4391326904297
                    }
                },
                "velocity": {
                    "x": -7.508052349090576,
                    "y": 0.3326932191848755,
                    "z": 0.04461463913321495
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.195838928222656,
                "transform": {
                    "location": {
                        "x": 740.1083374023438,
                        "y": 4289.8408203125,
                        "z": 369.4577331542969
                    },
                    "rotation": {
                        "roll": 0.002593334298580885,
                        "pitch": 0.20786996185779572,
                        "yaw": 179.1290283203125
                    }
                },
                "velocity": {
                    "x": -8.194869041442871,
                    "y": 0.116941437125206,
                    "z": 0.047264497727155685
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.1729753017425537,
                "transform": {
                    "location": {
                        "x": 712.935302734375,
                        "y": 4290.1025390625,
                        "z": 369.64483642578125
                    },
                    "rotation": {
                        "roll": 0.0030590954702347517,
                        "pitch": 0.37620678544044495,
                        "yaw": -179.97811889648438
                    }
                },
                "velocity": {
                    "x": -2.1729331016540527,
                    "y": -0.0026007541455328465,
                    "z": 0.013275489211082458
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37510,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.184385299682617,
                "transform": {
                    "location": {
                        "x": 698.638427734375,
                        "y": 4290.193359375,
                        "z": 369.6867370605469
                    },
                    "rotation": {
                        "roll": 0.001704079331830144,
                        "pitch": 0.3631884455680847,
                        "yaw": -179.86141967773438
                    }
                },
                "velocity": {
                    "x": -5.184272289276123,
                    "y": -0.009416542947292328,
                    "z": 0.032933156937360764
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.004209006205201149,
        "expert_target_speed": 4.209170553842078,
        "target_point": [
            50.32232958540364,
            -0.0492118171468264
        ],
        "target_point_next": [
            101.32228250476264,
            -0.09898178497491439
        ]
    },
    "55": {
        "acceleration": [
            -5.403604507446289,
            0.016402993351221085,
            0.024482347071170807
        ],
        "angular_velocity": [
            0.0414050929248333,
            0.29867830872535706,
            0.1539619415998459
        ],
        "forward_vector": [
            -0.9998723268508911,
            0.0035614462103694677,
            0.015576804988086224
        ],
        "right_vector": [
            -0.0035609742626547813,
            -0.9999936819076538,
            5.804986722068861e-05
        ],
        "location": [
            730.8988647460938,
            4286.79248046875,
            369.5001220703125
        ],
        "rotation": [
            -0.0033264162484556437,
            0.8925212621688843,
            179.79591369628906
        ],
        "velocity": [
            -4.490794658660889,
            0.011766123585402966,
            0.0261670108884573
        ],
        "speed": 4.490810072572809,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 58.067291259765625,
        "front_vehicle_info": {
            "id": 37519,
            "type": "vehicle.ford.mustang",
            "location": [
                673.7300415039062,
                4296.96240234375,
                369.8295593261719
            ],
            "velocity": [
                7.9587554931640625,
                -0.014792134054005146,
                -0.04299904406070709
            ],
            "speed_kmh": 28.6519874206984,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 37519,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.958885192871094,
                "transform": {
                    "location": {
                        "x": 673.7300415039062,
                        "y": 4296.96240234375,
                        "z": 369.8295593261719
                    },
                    "rotation": {
                        "roll": 0.0005791570292785764,
                        "pitch": -0.30823275446891785,
                        "yaw": -0.037078857421875
                    }
                },
                "velocity": {
                    "x": 7.9587554931640625,
                    "y": -0.014792134054005146,
                    "z": -0.04299904406070709
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37518,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.064675331115723,
                "transform": {
                    "location": {
                        "x": 674.0341796875,
                        "y": 4293.712890625,
                        "z": 369.8372497558594
                    },
                    "rotation": {
                        "roll": 0.014741482213139534,
                        "pitch": -0.32040414214134216,
                        "yaw": -0.0509033128619194
                    }
                },
                "velocity": {
                    "x": 8.06453800201416,
                    "y": -0.014977553859353065,
                    "z": -0.04471491277217865
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.7280324101448059,
                "transform": {
                    "location": {
                        "x": 756.8338623046875,
                        "y": 4285.97607421875,
                        "z": 369.3484191894531
                    },
                    "rotation": {
                        "roll": 0.0029678484424948692,
                        "pitch": 0.3376777172088623,
                        "yaw": 177.3728790283203
                    }
                },
                "velocity": {
                    "x": -0.7273529767990112,
                    "y": 0.031191224232316017,
                    "z": 0.003998746629804373
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.9059060215950012,
                "transform": {
                    "location": {
                        "x": 744.2117919921875,
                        "y": 4286.53076171875,
                        "z": 369.434326171875
                    },
                    "rotation": {
                        "roll": 0.011613784357905388,
                        "pitch": 0.12124267965555191,
                        "yaw": 178.6624755859375
                    }
                },
                "velocity": {
                    "x": -0.9057453870773315,
                    "y": 0.016072357073426247,
                    "z": 0.005715026520192623
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.821290493011475,
                "transform": {
                    "location": {
                        "x": 708.1426391601562,
                        "y": 4286.85400390625,
                        "z": 369.63592529296875
                    },
                    "rotation": {
                        "roll": 0.015253432095050812,
                        "pitch": -0.015135698020458221,
                        "yaw": 179.91363525390625
                    }
                },
                "velocity": {
                    "x": -5.821171283721924,
                    "y": 0.013878312893211842,
                    "z": 0.034577321261167526
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.695883274078369,
                "transform": {
                    "location": {
                        "x": 693.4744873046875,
                        "y": 4286.9404296875,
                        "z": 369.7579650878906
                    },
                    "rotation": {
                        "roll": 0.004516229499131441,
                        "pitch": 0.3084923028945923,
                        "yaw": 179.91920471191406
                    }
                },
                "velocity": {
                    "x": -6.6957550048828125,
                    "y": 0.017240377143025398,
                    "z": 0.03774208948016167
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.182641983032227,
                "transform": {
                    "location": {
                        "x": 753.1724853515625,
                        "y": 4289.38818359375,
                        "z": 369.38092041015625
                    },
                    "rotation": {
                        "roll": 0.009082003496587276,
                        "pitch": 0.27784526348114014,
                        "yaw": 177.53118896484375
                    }
                },
                "velocity": {
                    "x": -8.176149368286133,
                    "y": 0.32254353165626526,
                    "z": 0.04672471806406975
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.148000717163086,
                "transform": {
                    "location": {
                        "x": 737.9338989257812,
                        "y": 4289.87060546875,
                        "z": 369.4701843261719
                    },
                    "rotation": {
                        "roll": 0.009978070855140686,
                        "pitch": 0.2373763769865036,
                        "yaw": 179.23463439941406
                    }
                },
                "velocity": {
                    "x": -9.147330284118652,
                    "y": 0.09730372577905655,
                    "z": 0.05285564437508583
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.345181941986084,
                "transform": {
                    "location": {
                        "x": 712.3787231445312,
                        "y": 4290.10302734375,
                        "z": 369.6481628417969
                    },
                    "rotation": {
                        "roll": 0.001913300366140902,
                        "pitch": 0.36709532141685486,
                        "yaw": -179.95449829101562
                    }
                },
                "velocity": {
                    "x": -2.345134735107422,
                    "y": -0.004080724902451038,
                    "z": 0.014307918027043343
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37510,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.432894229888916,
                "transform": {
                    "location": {
                        "x": 697.316162109375,
                        "y": 4290.19140625,
                        "z": 369.6946716308594
                    },
                    "rotation": {
                        "roll": 0.003205154789611697,
                        "pitch": 0.34364044666290283,
                        "yaw": -179.8677215576172
                    }
                },
                "velocity": {
                    "x": -5.432805061340332,
                    "y": -0.009831953793764114,
                    "z": 0.02951238490641117
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.007666475139558315,
        "expert_target_speed": 5.515576615647103,
        "target_point": [
            49.362496207699444,
            -0.12007225272823627
        ],
        "target_point_next": [
            100.36233200093284,
            -0.24017175215531045
        ]
    },
    "60": {
        "acceleration": [
            0.7416439056396484,
            -0.03401566296815872,
            -0.012497752904891968
        ],
        "angular_velocity": [
            0.03911763057112694,
            -1.6736023426055908,
            0.017348092049360275
        ],
        "forward_vector": [
            -0.9998903274536133,
            0.002456790069118142,
            0.01460512075573206
        ],
        "right_vector": [
            -0.002454593777656555,
            -0.9999969601631165,
            0.00016829383093863726
        ],
        "location": [
            729.623046875,
            4286.79541015625,
            369.50799560546875
        ],
        "rotation": [
            -0.0096435546875,
            0.8368415832519531,
            179.85922241210938
        ],
        "velocity": [
            -5.352485656738281,
            0.004128004424273968,
            0.03149133548140526
        ],
        "speed": 5.352487248561136,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 54.76698303222656,
        "front_vehicle_info": {
            "id": 37519,
            "type": "vehicle.ford.mustang",
            "location": [
                675.80810546875,
                4296.9580078125,
                369.818115234375
            ],
            "velocity": [
                8.324883460998535,
                -0.023175885900855064,
                -0.04457534849643707
            ],
            "speed_kmh": 29.970126210023505,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 37519,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.325035095214844,
                "transform": {
                    "location": {
                        "x": 675.80810546875,
                        "y": 4296.9580078125,
                        "z": 369.818115234375
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": -0.30700331926345825,
                        "yaw": -0.141082763671875
                    }
                },
                "velocity": {
                    "x": 8.324883460998535,
                    "y": -0.023175885900855064,
                    "z": -0.04457534849643707
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37518,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.291574478149414,
                "transform": {
                    "location": {
                        "x": 676.079833984375,
                        "y": 4293.70849609375,
                        "z": 369.8258972167969
                    },
                    "rotation": {
                        "roll": 0.006153893191367388,
                        "pitch": -0.31582111120224,
                        "yaw": -0.15765380859375
                    }
                },
                "velocity": {
                    "x": 8.291412353515625,
                    "y": -0.02429223246872425,
                    "z": -0.04592520743608475
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.485896110534668,
                "transform": {
                    "location": {
                        "x": 756.5612182617188,
                        "y": 4285.98828125,
                        "z": 369.34979248046875
                    },
                    "rotation": {
                        "roll": 0.00259631616063416,
                        "pitch": 0.3694312572479248,
                        "yaw": 177.3610076904297
                    }
                },
                "velocity": {
                    "x": -1.4844251871109009,
                    "y": 0.06558722257614136,
                    "z": 0.008195200003683567
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.7343705892562866,
                "transform": {
                    "location": {
                        "x": 743.9050903320312,
                        "y": 4286.53662109375,
                        "z": 369.4328918457031
                    },
                    "rotation": {
                        "roll": -0.002044677734375,
                        "pitch": 0.5288273692131042,
                        "yaw": 178.7755126953125
                    }
                },
                "velocity": {
                    "x": -1.734129548072815,
                    "y": 0.027332177385687828,
                    "z": 0.009427547454833984
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.019182700663805008,
                "transform": {
                    "location": {
                        "x": 707.452880859375,
                        "y": 4286.8525390625,
                        "z": 369.6448669433594
                    },
                    "rotation": {
                        "roll": -0.034423813223838806,
                        "pitch": -1.3963911533355713,
                        "yaw": 179.6083526611328
                    }
                },
                "velocity": {
                    "x": -0.018307266756892204,
                    "y": -0.005643732380121946,
                    "z": -0.0009840024868026376
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.655516147613525,
                "transform": {
                    "location": {
                        "x": 691.6912841796875,
                        "y": 4286.94482421875,
                        "z": 369.7673034667969
                    },
                    "rotation": {
                        "roll": 0.002112511545419693,
                        "pitch": 0.4062322974205017,
                        "yaw": 179.86700439453125
                    }
                },
                "velocity": {
                    "x": -7.655359745025635,
                    "y": 0.02159004844725132,
                    "z": 0.043905001133680344
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.981466293334961,
                "transform": {
                    "location": {
                        "x": 751.0265502929688,
                        "y": 4289.47314453125,
                        "z": 369.39361572265625
                    },
                    "rotation": {
                        "roll": 0.004459237214177847,
                        "pitch": 0.24990977346897125,
                        "yaw": 177.71923828125
                    }
                },
                "velocity": {
                    "x": -8.974641799926758,
                    "y": 0.3460603654384613,
                    "z": 0.05271494761109352
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.969143867492676,
                "transform": {
                    "location": {
                        "x": 735.5403442382812,
                        "y": 4289.8955078125,
                        "z": 369.484130859375
                    },
                    "rotation": {
                        "roll": 0.0034904177300632,
                        "pitch": 0.24368064105510712,
                        "yaw": 179.39122009277344
                    }
                },
                "velocity": {
                    "x": -9.968490600585938,
                    "y": 0.09872545301914215,
                    "z": 0.05723952129483223
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.453361749649048,
                "transform": {
                    "location": {
                        "x": 711.6644897460938,
                        "y": 4290.1015625,
                        "z": 369.6517639160156
                    },
                    "rotation": {
                        "roll": 0.0026039239019155502,
                        "pitch": 0.4303770363330841,
                        "yaw": -179.94654846191406
                    }
                },
                "velocity": {
                    "x": -3.453301429748535,
                    "y": -0.004772179294377565,
                    "z": 0.019817542284727097
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37510,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.548323631286621,
                "transform": {
                    "location": {
                        "x": 695.8190307617188,
                        "y": 4290.189453125,
                        "z": 369.7029113769531
                    },
                    "rotation": {
                        "roll": 0.0026848975103348494,
                        "pitch": 0.3600875437259674,
                        "yaw": -179.85853576660156
                    }
                },
                "velocity": {
                    "x": -6.548215389251709,
                    "y": -0.002795879263430834,
                    "z": 0.037562720477581024
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.014131926000118256,
        "expert_target_speed": 6.235794065739839,
        "target_point": [
            48.08651211914991,
            -0.17483751666070796
        ],
        "target_point_next": [
            99.08618401198503,
            -0.3513074849158608
        ]
    },
    "65": {
        "acceleration": [
            0.08183479309082031,
            -0.05679488182067871,
            -0.0029600411653518677
        ],
        "angular_velocity": [
            -0.007924427278339863,
            -0.7927342057228088,
            0.858715295791626
        ],
        "forward_vector": [
            -0.9999581575393677,
            0.00033344622352160513,
            0.009142031893134117
        ],
        "right_vector": [
            -0.0003310352039989084,
            -0.9999998807907104,
            0.0002652397961355746
        ],
        "location": [
            728.2882690429688,
            4286.79443359375,
            369.5169372558594
        ],
        "rotation": [
            -0.01519775576889515,
            0.523807168006897,
            179.98089599609375
        ],
        "velocity": [
            -5.36344575881958,
            -0.009916148148477077,
            0.030924538150429726
        ],
        "speed": 5.3634549254928805,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 51.478179931640625,
        "front_vehicle_info": {
            "id": 37519,
            "type": "vehicle.ford.mustang",
            "location": [
                677.8229370117188,
                4296.95166015625,
                369.80712890625
            ],
            "velocity": [
                7.872648239135742,
                -0.03162769973278046,
                -0.04466792941093445
            ],
            "speed_kmh": 28.342218550933527,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 37519,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.872838497161865,
                "transform": {
                    "location": {
                        "x": 677.8229370117188,
                        "y": 4296.95166015625,
                        "z": 369.80712890625
                    },
                    "rotation": {
                        "roll": 0.0006867855554446578,
                        "pitch": -0.32592979073524475,
                        "yaw": -0.2002563327550888
                    }
                },
                "velocity": {
                    "x": 7.872648239135742,
                    "y": -0.03162769973278046,
                    "z": -0.04466792941093445
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37518,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.073862075805664,
                "transform": {
                    "location": {
                        "x": 678.124267578125,
                        "y": 4293.70166015625,
                        "z": 369.81463623046875
                    },
                    "rotation": {
                        "roll": 0.0068736751563847065,
                        "pitch": -0.32211169600486755,
                        "yaw": -0.227630615234375
                    }
                },
                "velocity": {
                    "x": 8.073659896850586,
                    "y": -0.03544646501541138,
                    "z": -0.0448586642742157
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.1546475887298584,
                "transform": {
                    "location": {
                        "x": 756.0968627929688,
                        "y": 4286.0087890625,
                        "z": 369.3525695800781
                    },
                    "rotation": {
                        "roll": 0.0028540887869894505,
                        "pitch": 0.37044212222099304,
                        "yaw": 177.3863525390625
                    }
                },
                "velocity": {
                    "x": -2.152512311935425,
                    "y": 0.09495271742343903,
                    "z": 0.013435096479952335
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.3110218048095703,
                "transform": {
                    "location": {
                        "x": 743.2667236328125,
                        "y": 4286.546875,
                        "z": 369.4349670410156
                    },
                    "rotation": {
                        "roll": -0.005462645553052425,
                        "pitch": 0.7397094368934631,
                        "yaw": 178.8814697265625
                    }
                },
                "velocity": {
                    "x": -3.310608386993408,
                    "y": 0.04896949604153633,
                    "z": 0.018455713987350464
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.7169764041900635,
                "transform": {
                    "location": {
                        "x": 707.1802978515625,
                        "y": 4286.853515625,
                        "z": 369.64190673828125
                    },
                    "rotation": {
                        "roll": -0.014129637740552425,
                        "pitch": -0.17798106372356415,
                        "yaw": 179.5345916748047
                    }
                },
                "velocity": {
                    "x": -1.7169297933578491,
                    "y": 0.006986451800912619,
                    "z": 0.01054100040346384
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.398153305053711,
                "transform": {
                    "location": {
                        "x": 689.63671875,
                        "y": 4286.95166015625,
                        "z": 369.77886962890625
                    },
                    "rotation": {
                        "roll": 0.005995132960379124,
                        "pitch": 0.4071953594684601,
                        "yaw": 179.8017120361328
                    }
                },
                "velocity": {
                    "x": -8.397934913635254,
                    "y": 0.036017656326293945,
                    "z": 0.04860583320260048
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.897693634033203,
                "transform": {
                    "location": {
                        "x": 748.6629028320312,
                        "y": 4289.564453125,
                        "z": 369.40753173828125
                    },
                    "rotation": {
                        "roll": 0.000610960996709764,
                        "pitch": 0.24406996369361877,
                        "yaw": 177.78610229492188
                    }
                },
                "velocity": {
                    "x": -9.890220642089844,
                    "y": 0.3802548944950104,
                    "z": 0.05725794658064842
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.632113456726074,
                "transform": {
                    "location": {
                        "x": 732.9400024414062,
                        "y": 4289.92041015625,
                        "z": 369.4991760253906
                    },
                    "rotation": {
                        "roll": 0.005804304964840412,
                        "pitch": 0.26051023602485657,
                        "yaw": 179.4771270751953
                    }
                },
                "velocity": {
                    "x": -10.631620407104492,
                    "y": 0.08229277282953262,
                    "z": 0.06095417961478233
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.774946689605713,
                "transform": {
                    "location": {
                        "x": 710.6270751953125,
                        "y": 4290.1005859375,
                        "z": 369.65740966796875
                    },
                    "rotation": {
                        "roll": 0.008046934381127357,
                        "pitch": 0.4704838991165161,
                        "yaw": -179.97512817382812
                    }
                },
                "velocity": {
                    "x": -4.774855136871338,
                    "y": 0.010333729907870293,
                    "z": 0.02769923210144043
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37510,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.5038533210754395,
                "transform": {
                    "location": {
                        "x": 694.0505981445312,
                        "y": 4290.189453125,
                        "z": 369.7130432128906
                    },
                    "rotation": {
                        "roll": 0.004176103975623846,
                        "pitch": 0.36464327573776245,
                        "yaw": -179.98101806640625
                    }
                },
                "velocity": {
                    "x": -7.503725528717041,
                    "y": 0.011006532236933708,
                    "z": 0.04232669621706009
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.030409937724471092,
        "expert_target_speed": 6.242641206249969,
        "target_point": [
            46.75125504240654,
            -0.2783632635707036
        ],
        "target_point_next": [
            97.75043725744057,
            -0.563123205083585
        ]
    },
    "70": {
        "acceleration": [
            -5.114049911499023,
            -0.13677559792995453,
            0.02232268452644348
        ],
        "angular_velocity": [
            0.029003595933318138,
            0.9353480339050293,
            -1.771840214729309
        ],
        "forward_vector": [
            -0.9998968839645386,
            -0.0026596805546432734,
            0.014112599194049835
        ],
        "right_vector": [
            0.00266617676243186,
            -0.9999963641166687,
            0.00044150807661935687
        ],
        "location": [
            726.7748413085938,
            4286.7900390625,
            369.5246276855469
        ],
        "rotation": [
            -0.0252990685403347,
            0.8086192011833191,
            -179.84759521484375
        ],
        "velocity": [
            -6.868987083435059,
            -0.03558369353413582,
            0.038788050413131714
        ],
        "speed": 6.869079250645111,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 48.042724609375,
        "front_vehicle_info": {
            "id": 37519,
            "type": "vehicle.ford.mustang",
            "location": [
                679.8180541992188,
                4296.943359375,
                369.7958984375
            ],
            "velocity": [
                8.147318840026855,
                -0.03870652616024017,
                -0.04488031938672066
            ],
            "speed_kmh": 29.33112382234999,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 37519,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.147534370422363,
                "transform": {
                    "location": {
                        "x": 679.8180541992188,
                        "y": 4296.943359375,
                        "z": 369.7958984375
                    },
                    "rotation": {
                        "roll": -0.0008239744929596782,
                        "pitch": -0.3182389736175537,
                        "yaw": -0.25628662109375
                    }
                },
                "velocity": {
                    "x": 8.147318840026855,
                    "y": -0.03870652616024017,
                    "z": -0.04488031938672066
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37518,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.300421714782715,
                "transform": {
                    "location": {
                        "x": 680.1722412109375,
                        "y": 4293.6923828125,
                        "z": 369.8031311035156
                    },
                    "rotation": {
                        "roll": 0.0021366102155297995,
                        "pitch": -0.3199123740196228,
                        "yaw": -0.276458740234375
                    }
                },
                "velocity": {
                    "x": 8.300199508666992,
                    "y": -0.03962762653827667,
                    "z": -0.04599533602595329
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.8966481685638428,
                "transform": {
                    "location": {
                        "x": 755.6063842773438,
                        "y": 4286.03076171875,
                        "z": 369.3558044433594
                    },
                    "rotation": {
                        "roll": 0.0017174712847918272,
                        "pitch": 0.3467208743095398,
                        "yaw": 177.40847778320312
                    }
                },
                "velocity": {
                    "x": -1.8947761058807373,
                    "y": 0.08347246050834656,
                    "z": 0.011409101076424122
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.303390979766846,
                "transform": {
                    "location": {
                        "x": 742.1795043945312,
                        "y": 4286.56396484375,
                        "z": 369.4408264160156
                    },
                    "rotation": {
                        "roll": -0.004150390159338713,
                        "pitch": 0.8078473806381226,
                        "yaw": 179.00662231445312
                    }
                },
                "velocity": {
                    "x": -5.3027262687683105,
                    "y": 0.07709746062755585,
                    "z": 0.033264558762311935
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.7576823234558105,
                "transform": {
                    "location": {
                        "x": 706.6185913085938,
                        "y": 4286.85546875,
                        "z": 369.6428527832031
                    },
                    "rotation": {
                        "roll": -0.01031493954360485,
                        "pitch": 0.4872725009918213,
                        "yaw": 179.59564208984375
                    }
                },
                "velocity": {
                    "x": -2.7576217651367188,
                    "y": 0.010364974848926067,
                    "z": 0.01503928191959858
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.767689228057861,
                "transform": {
                    "location": {
                        "x": 687.6209716796875,
                        "y": 4286.96044921875,
                        "z": 369.7912292480469
                    },
                    "rotation": {
                        "roll": 0.001655871164985001,
                        "pitch": 0.29502999782562256,
                        "yaw": 179.75303649902344
                    }
                },
                "velocity": {
                    "x": -7.767487525939941,
                    "y": 0.0336022786796093,
                    "z": 0.04475010931491852
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.047444343566895,
                "transform": {
                    "location": {
                        "x": 746.1273193359375,
                        "y": 4289.6484375,
                        "z": 369.42181396484375
                    },
                    "rotation": {
                        "roll": 0.010731637477874756,
                        "pitch": 0.2979191839694977,
                        "yaw": 178.1370849609375
                    }
                },
                "velocity": {
                    "x": -10.042609214782715,
                    "y": 0.30589550733566284,
                    "z": 0.059674110263586044
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.418067932128906,
                "transform": {
                    "location": {
                        "x": 730.4203491210938,
                        "y": 4289.939453125,
                        "z": 369.5125427246094
                    },
                    "rotation": {
                        "roll": 0.0015617581084370613,
                        "pitch": 0.4129805266857147,
                        "yaw": 179.5707550048828
                    }
                },
                "velocity": {
                    "x": -9.417662620544434,
                    "y": 0.06782463192939758,
                    "z": 0.05512164160609245
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.341159343719482,
                "transform": {
                    "location": {
                        "x": 709.327392578125,
                        "y": 4290.1025390625,
                        "z": 369.6658020019531
                    },
                    "rotation": {
                        "roll": 0.003970598801970482,
                        "pitch": 0.4117306172847748,
                        "yaw": 179.99392700195312
                    }
                },
                "velocity": {
                    "x": -5.341063499450684,
                    "y": 0.011645819991827011,
                    "z": 0.029831932857632637
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37510,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.638978004455566,
                "transform": {
                    "location": {
                        "x": 692.0530395507812,
                        "y": 4290.19189453125,
                        "z": 369.7243957519531
                    },
                    "rotation": {
                        "roll": 0.0026137938257306814,
                        "pitch": 0.37003231048583984,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": -8.638811111450195,
                    "y": 0.021695613861083984,
                    "z": 0.048989780247211456
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.052605438977479935,
        "expert_target_speed": 7.457872542698526,
        "target_point": [
            45.23677838830848,
            -0.41866239993940907
        ],
        "target_point_next": [
            96.23487984496103,
            -0.8560668392238582
        ]
    },
    "75": {
        "acceleration": [
            -1.6437530517578125,
            0.018250420689582825,
            0.010636374354362488
        ],
        "angular_velocity": [
            0.023133503273129463,
            -0.8455660343170166,
            2.923053503036499
        ],
        "forward_vector": [
            -0.9998551607131958,
            -0.0061622182838618755,
            0.015862751752138138
        ],
        "right_vector": [
            0.006169067695736885,
            -0.9999808669090271,
            0.0003829142078757286
        ],
        "location": [
            724.8795166015625,
            4286.77783203125,
            369.5351867675781
        ],
        "rotation": [
            -0.021942129358649254,
            0.908906877040863,
            -179.64688110351562
        ],
        "velocity": [
            -8.08860969543457,
            -0.05566217377781868,
            0.046454057097435
        ],
        "speed": 8.088801214189147,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 19.139413833618164,
        "front_vehicle_info": {
            "id": 37515,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                705.7406005859375,
                4286.859375,
                369.64666748046875
            ],
            "velocity": [
                -4.17281436920166,
                0.019567454233765602,
                0.02398168481886387
            ],
            "speed_kmh": 15.022544972510142,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 37519,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.08183765411377,
                "transform": {
                    "location": {
                        "x": 681.8572998046875,
                        "y": 4296.93359375,
                        "z": 369.78448486328125
                    },
                    "rotation": {
                        "roll": -0.00024414053768850863,
                        "pitch": -0.32037684321403503,
                        "yaw": -0.2763671576976776
                    }
                },
                "velocity": {
                    "x": 8.081610679626465,
                    "y": -0.04015606269240379,
                    "z": -0.04541151970624924
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37518,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.08341121673584,
                "transform": {
                    "location": {
                        "x": 682.2191162109375,
                        "y": 4293.6826171875,
                        "z": 369.7917785644531
                    },
                    "rotation": {
                        "roll": 0.0008284862851724029,
                        "pitch": -0.32306110858917236,
                        "yaw": -0.2910155653953552
                    }
                },
                "velocity": {
                    "x": 8.083175659179688,
                    "y": -0.042439449578523636,
                    "z": -0.044751133769750595
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9155182838439941,
                "transform": {
                    "location": {
                        "x": 755.0960693359375,
                        "y": 4286.05322265625,
                        "z": 369.3588562011719
                    },
                    "rotation": {
                        "roll": 0.001460640225559473,
                        "pitch": 0.3484967350959778,
                        "yaw": 177.426025390625
                    }
                },
                "velocity": {
                    "x": -1.9136326313018799,
                    "y": 0.08403754234313965,
                    "z": 0.012583456002175808
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.1583638191223145,
                "transform": {
                    "location": {
                        "x": 740.7832641601562,
                        "y": 4286.5849609375,
                        "z": 369.4509582519531
                    },
                    "rotation": {
                        "roll": -0.0007019039476290345,
                        "pitch": 0.5852037668228149,
                        "yaw": 179.0933837890625
                    }
                },
                "velocity": {
                    "x": -6.1576409339904785,
                    "y": 0.0869193822145462,
                    "z": 0.03672191500663757
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.172929286956787,
                "transform": {
                    "location": {
                        "x": 705.7406005859375,
                        "y": 4286.859375,
                        "z": 369.64666748046875
                    },
                    "rotation": {
                        "roll": -0.004272460471838713,
                        "pitch": 0.8107707500457764,
                        "yaw": 179.6658477783203
                    }
                },
                "velocity": {
                    "x": -4.17281436920166,
                    "y": 0.019567454233765602,
                    "z": 0.02398168481886387
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.095361709594727,
                "transform": {
                    "location": {
                        "x": 685.6566772460938,
                        "y": 4286.96923828125,
                        "z": 369.8020324707031
                    },
                    "rotation": {
                        "roll": 0.0017982671270146966,
                        "pitch": 0.339822381734848,
                        "yaw": 179.73561096191406
                    }
                },
                "velocity": {
                    "x": -8.095129013061523,
                    "y": 0.040456321090459824,
                    "z": 0.04612511396408081
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.923079490661621,
                "transform": {
                    "location": {
                        "x": 743.771728515625,
                        "y": 4289.72021484375,
                        "z": 369.4345703125
                    },
                    "rotation": {
                        "roll": 0.0016462219646200538,
                        "pitch": 0.4277473986148834,
                        "yaw": 178.26853942871094
                    }
                },
                "velocity": {
                    "x": -8.918971061706543,
                    "y": 0.2654922902584076,
                    "z": 0.05303572490811348
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.083536148071289,
                "transform": {
                    "location": {
                        "x": 728.1481323242188,
                        "y": 4289.95556640625,
                        "z": 369.5260314941406
                    },
                    "rotation": {
                        "roll": 0.0015170661499723792,
                        "pitch": 0.3811928331851959,
                        "yaw": 179.59725952148438
                    }
                },
                "velocity": {
                    "x": -9.083169937133789,
                    "y": 0.06183677911758423,
                    "z": 0.05324767902493477
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.784947395324707,
                "transform": {
                    "location": {
                        "x": 707.9443359375,
                        "y": 4290.10595703125,
                        "z": 369.6740417480469
                    },
                    "rotation": {
                        "roll": 0.0032203232403844595,
                        "pitch": 0.37876129150390625,
                        "yaw": 179.92498779296875
                    }
                },
                "velocity": {
                    "x": -5.7848381996154785,
                    "y": 0.011887063272297382,
                    "z": 0.033511266112327576
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37510,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.321105003356934,
                "transform": {
                    "location": {
                        "x": 689.9263916015625,
                        "y": 4290.1982421875,
                        "z": 369.73681640625
                    },
                    "rotation": {
                        "roll": 0.0034366215113550425,
                        "pitch": 0.3260185718536377,
                        "yaw": 179.79371643066406
                    }
                },
                "velocity": {
                    "x": -8.320910453796387,
                    "y": 0.030141456052660942,
                    "z": 0.048352841287851334
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.07349842041730881,
        "expert_target_speed": 8.36816779660033,
        "target_point": [
            43.33967013654273,
            -0.5776642713686658
        ],
        "target_point_next": [
            94.33592627107664,
            -1.1937284624594975
        ]
    },
    "80": {
        "acceleration": [
            -0.4363250732421875,
            0.21050222218036652,
            0.007673278450965881
        ],
        "angular_velocity": [
            0.1844620704650879,
            -0.9927688241004944,
            -3.6432433128356934
        ],
        "forward_vector": [
            -0.9999057054519653,
            -0.002339059254154563,
            0.013533416204154491
        ],
        "right_vector": [
            0.0023299125023186207,
            -0.9999970197677612,
            -0.0006915912963449955
        ],
        "location": [
            722.7692260742188,
            4286.7705078125,
            369.5479736328125
        ],
        "rotation": [
            0.03962889313697815,
            0.7754313349723816,
            -179.865966796875
        ],
        "velocity": [
            -8.779571533203125,
            -0.004919457249343395,
            0.051120586693286896
        ],
        "speed": 8.779572911462738,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 18.23932456970215,
        "front_vehicle_info": {
            "id": 37515,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                704.5304565429688,
                4286.86572265625,
                369.6536560058594
            ],
            "velocity": [
                -5.327136039733887,
                0.02409977652132511,
                0.032565925270318985
            ],
            "speed_kmh": 19.178244331276822,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 37622,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 643.5760498046875,
                        "y": 4293.8134765625,
                        "z": 370.3825378417969
                    },
                    "rotation": {
                        "roll": 1.0422185336977918e-10,
                        "pitch": -0.3011156916618347,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 37519,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.024406433105469,
                "transform": {
                    "location": {
                        "x": 683.86328125,
                        "y": 4296.923828125,
                        "z": 369.7732849121094
                    },
                    "rotation": {
                        "roll": -9.15526325115934e-05,
                        "pitch": -0.3242495656013489,
                        "yaw": -0.3019409477710724
                    }
                },
                "velocity": {
                    "x": 8.024161338806152,
                    "y": -0.04387552663683891,
                    "z": -0.044807035475969315
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37518,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.310270309448242,
                "transform": {
                    "location": {
                        "x": 684.26953125,
                        "y": 4293.67138671875,
                        "z": 369.78021240234375
                    },
                    "rotation": {
                        "roll": 0.0019362495513632894,
                        "pitch": -0.3216540813446045,
                        "yaw": -0.312591552734375
                    }
                },
                "velocity": {
                    "x": 8.310018539428711,
                    "y": -0.045339878648519516,
                    "z": -0.04618365690112114
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.043003797531128,
                "transform": {
                    "location": {
                        "x": 754.6350708007812,
                        "y": 4286.07373046875,
                        "z": 369.36175537109375
                    },
                    "rotation": {
                        "roll": 0.002333621494472027,
                        "pitch": 0.3451157808303833,
                        "yaw": 177.4392547607422
                    }
                },
                "velocity": {
                    "x": -2.0410079956054688,
                    "y": 0.08954672515392303,
                    "z": 0.011495151557028294
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.430246353149414,
                "transform": {
                    "location": {
                        "x": 739.0272216796875,
                        "y": 4286.6103515625,
                        "z": 369.4607238769531
                    },
                    "rotation": {
                        "roll": -0.00244140625,
                        "pitch": 0.6475974917411804,
                        "yaw": 179.20547485351562
                    }
                },
                "velocity": {
                    "x": -7.429426193237305,
                    "y": 0.10142098367214203,
                    "z": 0.04363354668021202
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.327290058135986,
                "transform": {
                    "location": {
                        "x": 704.5304565429688,
                        "y": 4286.86572265625,
                        "z": 369.6536560058594
                    },
                    "rotation": {
                        "roll": -0.0035705561749637127,
                        "pitch": 0.8841201066970825,
                        "yaw": 179.70431518554688
                    }
                },
                "velocity": {
                    "x": -5.327136039733887,
                    "y": 0.02409977652132511,
                    "z": 0.032565925270318985
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.091995239257812,
                "transform": {
                    "location": {
                        "x": 683.6134033203125,
                        "y": 4286.9794921875,
                        "z": 369.81353759765625
                    },
                    "rotation": {
                        "roll": 0.001317863818258047,
                        "pitch": 0.3320906162261963,
                        "yaw": 179.70594787597656
                    }
                },
                "velocity": {
                    "x": -8.091757774353027,
                    "y": 0.04360705614089966,
                    "z": 0.04400761425495148
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.158992290496826,
                "transform": {
                    "location": {
                        "x": 741.7195434570312,
                        "y": 4289.77001953125,
                        "z": 369.4459533691406
                    },
                    "rotation": {
                        "roll": 0.00854930654168129,
                        "pitch": 0.5076674222946167,
                        "yaw": 178.62953186035156
                    }
                },
                "velocity": {
                    "x": -7.157318592071533,
                    "y": 0.14924389123916626,
                    "z": 0.04108292609453201
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.212000846862793,
                "transform": {
                    "location": {
                        "x": 725.830078125,
                        "y": 4289.97119140625,
                        "z": 369.5400390625
                    },
                    "rotation": {
                        "roll": -0.00021362306142691523,
                        "pitch": 0.3198167681694031,
                        "yaw": 179.61004638671875
                    }
                },
                "velocity": {
                    "x": -9.211638450622559,
                    "y": 0.06272909045219421,
                    "z": 0.052305515855550766
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.23661994934082,
                "transform": {
                    "location": {
                        "x": 706.11279296875,
                        "y": 4290.10986328125,
                        "z": 369.6832580566406
                    },
                    "rotation": {
                        "roll": 0.003220394952222705,
                        "pitch": 0.5364293456077576,
                        "yaw": 179.88633728027344
                    }
                },
                "velocity": {
                    "x": -8.23646068572998,
                    "y": 0.020548641681671143,
                    "z": 0.04693760722875595
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37510,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.994510173797607,
                "transform": {
                    "location": {
                        "x": 687.8917846679688,
                        "y": 4290.20556640625,
                        "z": 369.74859619140625
                    },
                    "rotation": {
                        "roll": 0.003338657086715102,
                        "pitch": 0.31395646929740906,
                        "yaw": 179.7315216064453
                    }
                },
                "velocity": {
                    "x": -7.994303226470947,
                    "y": 0.03665781766176224,
                    "z": 0.0443137064576149
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.6581918001174927,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0713450238108635,
        "expert_target_speed": 8.837982135790194,
        "target_point": [
            41.2312602552538,
            -0.4143275199203703
        ],
        "target_point_next": [
            92.22949925320799,
            -0.8353903823014827
        ]
    },
    "85": {
        "acceleration": [
            1.6358375549316406,
            0.19392907619476318,
            0.0041179358959198
        ],
        "angular_velocity": [
            0.04130363091826439,
            -1.1362547874450684,
            1.3821160793304443
        ],
        "forward_vector": [
            -0.9999686479568481,
            0.0029669476207345724,
            0.007338338531553745
        ],
        "right_vector": [
            -0.002974963281303644,
            -0.9999949932098389,
            -0.0010816525900736451
        ],
        "location": [
            720.6170043945312,
            4286.775390625,
            369.5617980957031
        ],
        "rotation": [
            0.06197580695152283,
            0.4204595983028412,
            179.8300018310547
        ],
        "velocity": [
            -8.429038047790527,
            0.04619024321436882,
            0.04910153150558472
        ],
        "speed": 8.42916460568119,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 17.4233455657959,
        "front_vehicle_info": {
            "id": 37515,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                703.1942138671875,
                4286.87158203125,
                369.6623229980469
            ],
            "velocity": [
                -5.802142143249512,
                0.025250127539038658,
                0.032988548278808594
            ],
            "speed_kmh": 20.888247108312964,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 37624,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 644.4263305664062,
                        "y": 4297.05859375,
                        "z": 370.18115234375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.30356091260910034,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 37622,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 644.8211669921875,
                        "y": 4293.80615234375,
                        "z": 370.1356506347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.30356091260910034,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 37519,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.094179153442383,
                "transform": {
                    "location": {
                        "x": 685.8803100585938,
                        "y": 4296.912109375,
                        "z": 369.7618713378906
                    },
                    "rotation": {
                        "roll": -0.0005187986535020173,
                        "pitch": -0.3224737048149109,
                        "yaw": -0.3151550889015198
                    }
                },
                "velocity": {
                    "x": 8.09393310546875,
                    "y": -0.04447481408715248,
                    "z": -0.04469660669565201
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37518,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.093159675598145,
                "transform": {
                    "location": {
                        "x": 686.3187255859375,
                        "y": 4293.65966796875,
                        "z": 369.7687072753906
                    },
                    "rotation": {
                        "roll": 1.4896882930770516e-05,
                        "pitch": -0.3275758624076843,
                        "yaw": -0.3206786811351776
                    }
                },
                "velocity": {
                    "x": 8.092904090881348,
                    "y": -0.04599607735872269,
                    "z": -0.044966280460357666
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.720559597015381,
                "transform": {
                    "location": {
                        "x": 754.0399780273438,
                        "y": 4286.10009765625,
                        "z": 369.365234375
                    },
                    "rotation": {
                        "roll": 0.0008242843323387206,
                        "pitch": 0.3565358519554138,
                        "yaw": 177.45150756835938
                    }
                },
                "velocity": {
                    "x": -2.71789813041687,
                    "y": 0.11938941478729248,
                    "z": 0.014880065806210041
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.90211296081543,
                "transform": {
                    "location": {
                        "x": 736.9691772460938,
                        "y": 4286.634765625,
                        "z": 369.4725646972656
                    },
                    "rotation": {
                        "roll": -0.0177307091653347,
                        "pitch": 0.6713802218437195,
                        "yaw": 179.3310089111328
                    }
                },
                "velocity": {
                    "x": -8.901470184326172,
                    "y": 0.09323280304670334,
                    "z": 0.052566755563020706
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.802290439605713,
                "transform": {
                    "location": {
                        "x": 703.1942138671875,
                        "y": 4286.87158203125,
                        "z": 369.6623229980469
                    },
                    "rotation": {
                        "roll": -0.0003967284574173391,
                        "pitch": 0.6382743120193481,
                        "yaw": 179.72213745117188
                    }
                },
                "velocity": {
                    "x": -5.802142143249512,
                    "y": 0.025250127539038658,
                    "z": 0.032988548278808594
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.924090385437012,
                "transform": {
                    "location": {
                        "x": 681.6222534179688,
                        "y": 4286.99072265625,
                        "z": 369.8249206542969
                    },
                    "rotation": {
                        "roll": 0.0014829833526164293,
                        "pitch": 0.30692818760871887,
                        "yaw": 179.690185546875
                    }
                },
                "velocity": {
                    "x": -7.923846244812012,
                    "y": 0.0427732840180397,
                    "z": 0.04517717286944389
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.008267402648926,
                "transform": {
                    "location": {
                        "x": 739.9762573242188,
                        "y": 4289.806640625,
                        "z": 369.4570617675781
                    },
                    "rotation": {
                        "roll": 0.0015921450685709715,
                        "pitch": 0.3816094696521759,
                        "yaw": 178.73562622070312
                    }
                },
                "velocity": {
                    "x": -7.006647109985352,
                    "y": 0.1451372653245926,
                    "z": 0.04050667583942413
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.455351829528809,
                "transform": {
                    "location": {
                        "x": 723.64453125,
                        "y": 4289.9853515625,
                        "z": 369.55206298828125
                    },
                    "rotation": {
                        "roll": 0.0008230864186771214,
                        "pitch": 0.39649927616119385,
                        "yaw": 179.6166229248047
                    }
                },
                "velocity": {
                    "x": -8.455022811889648,
                    "y": 0.05648638680577278,
                    "z": 0.04881511628627777
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.854135513305664,
                "transform": {
                    "location": {
                        "x": 704.0697021484375,
                        "y": 4290.11669921875,
                        "z": 369.6966247558594
                    },
                    "rotation": {
                        "roll": 0.0046497369185090065,
                        "pitch": 0.3590288758277893,
                        "yaw": 179.7961883544922
                    }
                },
                "velocity": {
                    "x": -7.853929042816162,
                    "y": 0.032934851944446564,
                    "z": 0.04645966365933418
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37510,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.948360443115234,
                "transform": {
                    "location": {
                        "x": 685.904052734375,
                        "y": 4290.21484375,
                        "z": 369.7596740722656
                    },
                    "rotation": {
                        "roll": 0.00039386158459819853,
                        "pitch": 0.32000118494033813,
                        "yaw": 179.69664001464844
                    }
                },
                "velocity": {
                    "x": -7.948129653930664,
                    "y": 0.0401029996573925,
                    "z": 0.045407600700855255
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.06683684885501862,
        "expert_target_speed": 8.582249699676206,
        "target_point": [
            39.08065161679133,
            -0.19704214972656015
        ],
        "target_point_next": [
            90.08040690926114,
            -0.3474912598236313
        ]
    },
    "90": {
        "acceleration": [
            5.294971466064453,
            0.0812000036239624,
            -0.012395083904266357
        ],
        "angular_velocity": [
            -0.11959158629179001,
            -1.5744588375091553,
            -3.581268548965454
        ],
        "forward_vector": [
            -0.9999655485153198,
            0.008147051557898521,
            0.0015931121306493878
        ],
        "right_vector": [
            -0.00814855471253395,
            -0.9999663829803467,
            -0.0009396040113642812
        ],
        "location": [
            718.60302734375,
            4286.78955078125,
            369.5746765136719
        ],
        "rotation": [
            0.053835418075323105,
            0.09127864241600037,
            179.533203125
        ],
        "velocity": [
            -7.426717758178711,
            0.07359952479600906,
            0.043877534568309784
        ],
        "speed": 7.427082438595738,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 17.105182647705078,
        "front_vehicle_info": {
            "id": 37515,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                701.4983520507812,
                4286.87939453125,
                369.6710510253906
            ],
            "velocity": [
                -7.445694446563721,
                0.03250736743211746,
                0.04208625853061676
            ],
            "speed_kmh": 26.805183664861328,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 37624,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 646.4996337890625,
                        "y": 4297.04638671875,
                        "z": 369.9969787597656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.30356091260910034,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 37622,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 646.8969116210938,
                        "y": 4293.7939453125,
                        "z": 369.9934387207031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.30356091260910034,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 37519,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.071497917175293,
                "transform": {
                    "location": {
                        "x": 687.90234375,
                        "y": 4296.900390625,
                        "z": 369.75048828125
                    },
                    "rotation": {
                        "roll": 2.7137346478411928e-05,
                        "pitch": -0.3248301148414612,
                        "yaw": -0.3214111328125
                    }
                },
                "velocity": {
                    "x": 8.071245193481445,
                    "y": -0.04523536190390587,
                    "z": -0.04521884396672249
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37518,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.320383071899414,
                "transform": {
                    "location": {
                        "x": 688.3714599609375,
                        "y": 4293.64794921875,
                        "z": 369.75701904296875
                    },
                    "rotation": {
                        "roll": 0.0014687853399664164,
                        "pitch": -0.3234845697879791,
                        "yaw": -0.3313293755054474
                    }
                },
                "velocity": {
                    "x": 8.320116996765137,
                    "y": -0.04804524406790733,
                    "z": -0.04600590467453003
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.456234931945801,
                "transform": {
                    "location": {
                        "x": 753.2628173828125,
                        "y": 4286.1328125,
                        "z": 369.3697814941406
                    },
                    "rotation": {
                        "roll": 0.0009457276901230216,
                        "pitch": 0.3565016984939575,
                        "yaw": 177.5218048095703
                    }
                },
                "velocity": {
                    "x": -3.4535305500030518,
                    "y": 0.13526606559753418,
                    "z": 0.01972665823996067
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.325809478759766,
                "transform": {
                    "location": {
                        "x": 734.8026123046875,
                        "y": 4286.6572265625,
                        "z": 369.48834228515625
                    },
                    "rotation": {
                        "roll": -0.0084228515625,
                        "pitch": 0.30147087574005127,
                        "yaw": 179.45114135742188
                    }
                },
                "velocity": {
                    "x": -8.325289726257324,
                    "y": 0.07875696569681168,
                    "z": 0.04954582080245018
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.4458842277526855,
                "transform": {
                    "location": {
                        "x": 701.4983520507812,
                        "y": 4286.87939453125,
                        "z": 369.6710510253906
                    },
                    "rotation": {
                        "roll": -0.001220703125,
                        "pitch": 0.9197736978530884,
                        "yaw": 179.76605224609375
                    }
                },
                "velocity": {
                    "x": -7.445694446563721,
                    "y": 0.03250736743211746,
                    "z": 0.04208625853061676
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.080574989318848,
                "transform": {
                    "location": {
                        "x": 679.620849609375,
                        "y": 4287.00146484375,
                        "z": 369.8358459472656
                    },
                    "rotation": {
                        "roll": 0.0003252756141591817,
                        "pitch": 0.3334429860115051,
                        "yaw": 179.68927001953125
                    }
                },
                "velocity": {
                    "x": -8.080331802368164,
                    "y": 0.043773308396339417,
                    "z": 0.04482132941484451
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.562948226928711,
                "transform": {
                    "location": {
                        "x": 738.1469116210938,
                        "y": 4289.84228515625,
                        "z": 369.468505859375
                    },
                    "rotation": {
                        "roll": 0.011544199660420418,
                        "pitch": 0.2880631983280182,
                        "yaw": 178.93324279785156
                    }
                },
                "velocity": {
                    "x": -7.562106609344482,
                    "y": 0.10376167297363281,
                    "z": 0.04434685781598091
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.842374801635742,
                "transform": {
                    "location": {
                        "x": 721.4984741210938,
                        "y": 4289.99951171875,
                        "z": 369.5653076171875
                    },
                    "rotation": {
                        "roll": 0.0014309175312519073,
                        "pitch": 0.3066140115261078,
                        "yaw": 179.6208038330078
                    }
                },
                "velocity": {
                    "x": -8.842036247253418,
                    "y": 0.05849743261933327,
                    "z": 0.05058738589286804
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.372637748718262,
                "transform": {
                    "location": {
                        "x": 702.1864013671875,
                        "y": 4290.12451171875,
                        "z": 369.7081604003906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.2924276888370514,
                        "yaw": 179.7560577392578
                    }
                },
                "velocity": {
                    "x": -7.372439861297607,
                    "y": 0.03348793461918831,
                    "z": 0.04241015389561653
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37510,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.980844497680664,
                "transform": {
                    "location": {
                        "x": 683.91357421875,
                        "y": 4290.22509765625,
                        "z": 369.77081298828125
                    },
                    "rotation": {
                        "roll": 0.00016118580242618918,
                        "pitch": 0.32426321506500244,
                        "yaw": 179.6807403564453
                    }
                },
                "velocity": {
                    "x": -7.980599403381348,
                    "y": 0.043930087238550186,
                    "z": 0.0445062629878521
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.061151616275310516,
        "expert_target_speed": 7.916470672512051,
        "target_point": [
            37.067122402767936,
            0.003145252691428402
        ],
        "target_point_next": [
            88.06697281017006,
            0.11686969658210344
        ]
    },
    "95": {
        "acceleration": [
            3.6324691772460938,
            0.04739895462989807,
            -0.04215754568576813
        ],
        "angular_velocity": [
            0.06048589572310448,
            -0.0815846174955368,
            2.324276924133301
        ],
        "forward_vector": [
            -0.9999347925186157,
            0.011356252245604992,
            -0.0011787411058321595
        ],
        "right_vector": [
            -0.011355366557836533,
            -0.9999352097511292,
            -0.0007557660574093461
        ],
        "location": [
            716.8892211914062,
            4286.80908203125,
            369.5852966308594
        ],
        "rotation": [
            0.04330223798751831,
            -0.06753690540790558,
            179.3493194580078
        ],
        "velocity": [
            -6.3929057121276855,
            0.08859533071517944,
            0.03648257255554199
        ],
        "speed": 6.393519576632211,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 17.37252426147461,
        "front_vehicle_info": {
            "id": 37515,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                699.5171508789062,
                4286.88818359375,
                369.6829528808594
            ],
            "velocity": [
                -8.335169792175293,
                0.04179900139570236,
                0.04732774570584297
            ],
            "speed_kmh": 30.00747225729018,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 37624,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.012657165527344,
                "transform": {
                    "location": {
                        "x": 648.5711059570312,
                        "y": 4297.03564453125,
                        "z": 369.9785461425781
                    },
                    "rotation": {
                        "roll": -0.014190674759447575,
                        "pitch": -0.33698102831840515,
                        "yaw": -0.2807006537914276
                    }
                },
                "velocity": {
                    "x": 8.012188911437988,
                    "y": -0.013240004889667034,
                    "z": -0.08562319725751877
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 37622,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.231363296508789,
                "transform": {
                    "location": {
                        "x": 648.9606323242188,
                        "y": 4293.78564453125,
                        "z": 369.97479248046875
                    },
                    "rotation": {
                        "roll": -0.033782958984375,
                        "pitch": -0.3365165591239929,
                        "yaw": -0.1867370754480362
                    }
                },
                "velocity": {
                    "x": 8.230999946594238,
                    "y": 0.0053792549297213554,
                    "z": -0.07712113857269287
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 37519,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.044769287109375,
                "transform": {
                    "location": {
                        "x": 689.9141235351562,
                        "y": 4296.888671875,
                        "z": 369.7391052246094
                    },
                    "rotation": {
                        "roll": -0.0004577638173941523,
                        "pitch": -0.32470718026161194,
                        "yaw": -0.32421875
                    }
                },
                "velocity": {
                    "x": 8.044511795043945,
                    "y": -0.045582160353660583,
                    "z": -0.04546412453055382
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37518,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.103532791137695,
                "transform": {
                    "location": {
                        "x": 690.4232177734375,
                        "y": 4293.63623046875,
                        "z": 369.7455139160156
                    },
                    "rotation": {
                        "roll": 0.00046810106141492724,
                        "pitch": -0.327487051486969,
                        "yaw": -0.3343200385570526
                    }
                },
                "velocity": {
                    "x": 8.103262901306152,
                    "y": -0.048032138496637344,
                    "z": -0.04549110308289528
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.178305149078369,
                "transform": {
                    "location": {
                        "x": 752.3055419921875,
                        "y": 4286.17138671875,
                        "z": 369.37542724609375
                    },
                    "rotation": {
                        "roll": 0.00017672369722276926,
                        "pitch": 0.3556274473667145,
                        "yaw": 177.6319122314453
                    }
                },
                "velocity": {
                    "x": -4.175103187561035,
                    "y": 0.16167409718036652,
                    "z": 0.024685392156243324
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.094677925109863,
                "transform": {
                    "location": {
                        "x": 732.830078125,
                        "y": 4286.67529296875,
                        "z": 369.5016174316406
                    },
                    "rotation": {
                        "roll": -0.008880614303052425,
                        "pitch": 0.09366238117218018,
                        "yaw": 179.52259826660156
                    }
                },
                "velocity": {
                    "x": -7.094331741333008,
                    "y": 0.056579697877168655,
                    "z": 0.04136061668395996
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.335409164428711,
                "transform": {
                    "location": {
                        "x": 699.5171508789062,
                        "y": 4286.88818359375,
                        "z": 369.6829528808594
                    },
                    "rotation": {
                        "roll": 0.004937988705933094,
                        "pitch": 0.787916898727417,
                        "yaw": 179.70050048828125
                    }
                },
                "velocity": {
                    "x": -8.335169792175293,
                    "y": 0.04179900139570236,
                    "z": 0.04732774570584297
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.033260345458984,
                "transform": {
                    "location": {
                        "x": 677.6023559570312,
                        "y": 4287.01318359375,
                        "z": 369.8472595214844
                    },
                    "rotation": {
                        "roll": 0.0004924851236864924,
                        "pitch": 0.3187922239303589,
                        "yaw": 179.68624877929688
                    }
                },
                "velocity": {
                    "x": -8.033019065856934,
                    "y": 0.04408625140786171,
                    "z": 0.04392927139997482
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.262516021728516,
                "transform": {
                    "location": {
                        "x": 736.064453125,
                        "y": 4289.87158203125,
                        "z": 369.48162841796875
                    },
                    "rotation": {
                        "roll": 0.004486582707613707,
                        "pitch": 0.17194317281246185,
                        "yaw": 179.18435668945312
                    }
                },
                "velocity": {
                    "x": -9.261606216430664,
                    "y": 0.11840005964040756,
                    "z": 0.053243111819028854
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.875516891479492,
                "transform": {
                    "location": {
                        "x": 719.2364501953125,
                        "y": 4290.013671875,
                        "z": 369.5782470703125
                    },
                    "rotation": {
                        "roll": -0.0003967284574173391,
                        "pitch": 0.3262166380882263,
                        "yaw": 179.6324462890625
                    }
                },
                "velocity": {
                    "x": -8.8751802444458,
                    "y": 0.05692518502473831,
                    "z": 0.052333228290081024
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.994613170623779,
                "transform": {
                    "location": {
                        "x": 700.2837524414062,
                        "y": 4290.13232421875,
                        "z": 369.7184753417969
                    },
                    "rotation": {
                        "roll": 0.0011138066183775663,
                        "pitch": 0.37463584542274475,
                        "yaw": 179.73477172851562
                    }
                },
                "velocity": {
                    "x": -7.994379043579102,
                    "y": 0.04109852761030197,
                    "z": 0.04536132887005806
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37510,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.042658805847168,
                "transform": {
                    "location": {
                        "x": 681.9088745117188,
                        "y": 4290.23681640625,
                        "z": 369.7821350097656
                    },
                    "rotation": {
                        "roll": 4.290717697585933e-06,
                        "pitch": 0.3220843970775604,
                        "yaw": 179.67431640625
                    }
                },
                "velocity": {
                    "x": -8.042407035827637,
                    "y": 0.04505163058638573,
                    "z": 0.04497278109192848
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.05347601696848869,
        "expert_target_speed": 7.136921562714806,
        "target_point": [
            35.353003944454244,
            0.1221831718267023
        ],
        "target_point_next": [
            86.35222665695504,
            0.39959540528835036
        ]
    },
    "100": {
        "acceleration": [
            4.497280120849609,
            -0.031247437000274658,
            -0.012807846069335938
        ],
        "angular_velocity": [
            -0.18956288695335388,
            -0.5856260657310486,
            -3.810286045074463
        ],
        "forward_vector": [
            -0.9998995065689087,
            0.01409783586859703,
            -0.0014998905826359987
        ],
        "right_vector": [
            -0.014097084291279316,
            -0.9999005198478699,
            -0.0005104010924696922
        ],
        "location": [
            715.3783569335938,
            4286.83203125,
            369.5940856933594
        ],
        "rotation": [
            0.02924386039376259,
            -0.08593743294477463,
            179.19223022460938
        ],
        "velocity": [
            -5.445191383361816,
            0.09140610694885254,
            0.0322105698287487
        ],
        "speed": 5.445958527001956,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 18.023550033569336,
        "front_vehicle_info": {
            "id": 37515,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                697.355224609375,
                4286.89990234375,
                369.6961364746094
            ],
            "velocity": [
                -8.459287643432617,
                0.043654292821884155,
                0.04799262061715126
            ],
            "speed_kmh": 30.454331108157415,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 37624,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.204732894897461,
                "transform": {
                    "location": {
                        "x": 650.5992431640625,
                        "y": 4297.041015625,
                        "z": 369.9608154296875
                    },
                    "rotation": {
                        "roll": -0.0280761681497097,
                        "pitch": -0.31371739506721497,
                        "yaw": 0.20896263420581818
                    }
                },
                "velocity": {
                    "x": 8.20443344116211,
                    "y": 0.04149818420410156,
                    "z": -0.05649574100971222
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 37622,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.046246528625488,
                "transform": {
                    "location": {
                        "x": 650.9945678710938,
                        "y": 4293.79345703125,
                        "z": 369.9594421386719
                    },
                    "rotation": {
                        "roll": -0.0359191931784153,
                        "pitch": -0.3176584243774414,
                        "yaw": 0.24531768262386322
                    }
                },
                "velocity": {
                    "x": 8.045939445495605,
                    "y": 0.04838437959551811,
                    "z": -0.05096985399723053
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 37519,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.09800910949707,
                "transform": {
                    "location": {
                        "x": 691.9336547851562,
                        "y": 4296.876953125,
                        "z": 369.72760009765625
                    },
                    "rotation": {
                        "roll": 0.001135256257839501,
                        "pitch": -0.3262917697429657,
                        "yaw": -0.32501220703125
                    }
                },
                "velocity": {
                    "x": 8.09775447845459,
                    "y": -0.045867253094911575,
                    "z": -0.04484151676297188
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37518,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.328961372375488,
                "transform": {
                    "location": {
                        "x": 692.4783935546875,
                        "y": 4293.625,
                        "z": 369.7337951660156
                    },
                    "rotation": {
                        "roll": 0.0006304546259343624,
                        "pitch": -0.3266606032848358,
                        "yaw": -0.34039306640625
                    }
                },
                "velocity": {
                    "x": 8.328676223754883,
                    "y": -0.050505466759204865,
                    "z": -0.04689489305019379
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.933896064758301,
                "transform": {
                    "location": {
                        "x": 751.1649169921875,
                        "y": 4286.2158203125,
                        "z": 369.3821716308594
                    },
                    "rotation": {
                        "roll": 0.0011092040222138166,
                        "pitch": 0.3551151752471924,
                        "yaw": 177.71189880371094
                    }
                },
                "velocity": {
                    "x": -4.9301581382751465,
                    "y": 0.1896970570087433,
                    "z": 0.02975355088710785
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.553177833557129,
                "transform": {
                    "location": {
                        "x": 731.6215209960938,
                        "y": 4286.68505859375,
                        "z": 369.5118713378906
                    },
                    "rotation": {
                        "roll": -0.004669188521802425,
                        "pitch": -0.3493368327617645,
                        "yaw": 179.56724548339844
                    }
                },
                "velocity": {
                    "x": -4.55299711227417,
                    "y": 0.03138808161020279,
                    "z": 0.025663107633590698
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.4595365524292,
                "transform": {
                    "location": {
                        "x": 697.355224609375,
                        "y": 4286.89990234375,
                        "z": 369.6961364746094
                    },
                    "rotation": {
                        "roll": 0.0044090948067605495,
                        "pitch": 0.5816315412521362,
                        "yaw": 179.70138549804688
                    }
                },
                "velocity": {
                    "x": -8.459287643432617,
                    "y": 0.043654292821884155,
                    "z": 0.04799262061715126
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.980294704437256,
                "transform": {
                    "location": {
                        "x": 675.6064453125,
                        "y": 4287.02490234375,
                        "z": 369.8583068847656
                    },
                    "rotation": {
                        "roll": 0.0015673758462071419,
                        "pitch": 0.3148580491542816,
                        "yaw": 179.68235778808594
                    }
                },
                "velocity": {
                    "x": -7.980048179626465,
                    "y": 0.04419445991516113,
                    "z": 0.0444849394261837
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.65839958190918,
                "transform": {
                    "location": {
                        "x": 733.7857666015625,
                        "y": 4289.900390625,
                        "z": 369.4934387207031
                    },
                    "rotation": {
                        "roll": 0.0003653347084764391,
                        "pitch": 0.3482440114021301,
                        "yaw": 179.29029846191406
                    }
                },
                "velocity": {
                    "x": -8.65760326385498,
                    "y": 0.10566045343875885,
                    "z": 0.051287926733493805
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.610489368438721,
                "transform": {
                    "location": {
                        "x": 717.1376953125,
                        "y": 4290.02685546875,
                        "z": 369.5897521972656
                    },
                    "rotation": {
                        "roll": 0.00098962162155658,
                        "pitch": 0.41709232330322266,
                        "yaw": 179.64297485351562
                    }
                },
                "velocity": {
                    "x": -7.610213279724121,
                    "y": 0.04731391370296478,
                    "z": 0.044329822063446045
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.049646377563477,
                "transform": {
                    "location": {
                        "x": 698.236328125,
                        "y": 4290.14306640625,
                        "z": 369.73040771484375
                    },
                    "rotation": {
                        "roll": -0.000823974609375,
                        "pitch": 0.3470555543899536,
                        "yaw": 179.7047119140625
                    }
                },
                "velocity": {
                    "x": -8.049386978149414,
                    "y": 0.04369238391518593,
                    "z": 0.04767976701259613
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37510,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.993278503417969,
                "transform": {
                    "location": {
                        "x": 679.9044189453125,
                        "y": 4290.24853515625,
                        "z": 369.79327392578125
                    },
                    "rotation": {
                        "roll": -0.00030517578125,
                        "pitch": 0.3199465274810791,
                        "yaw": 179.66592407226562
                    }
                },
                "velocity": {
                    "x": -7.993009567260742,
                    "y": 0.04706807807087898,
                    "z": 0.04560408368706703
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0346025675535202,
        "expert_target_speed": 6.330256615201989,
        "target_point": [
            33.84149841455328,
            0.2207611847228474
        ],
        "target_point_next": [
            84.83976882107308,
            0.6380025657249424
        ]
    },
    "105": {
        "acceleration": [
            -4.869699478149414,
            0.12980565428733826,
            0.03548238426446915
        ],
        "angular_velocity": [
            0.07060497254133224,
            2.303438901901245,
            -0.3835504651069641
        ],
        "forward_vector": [
            -0.9998717308044434,
            0.015991387888789177,
            0.0009239910286851227
        ],
        "right_vector": [
            -0.015991732478141785,
            -0.999872088432312,
            -0.0003669417055789381
        ],
        "location": [
            714.087646484375,
            4286.85498046875,
            369.60113525390625
        ],
        "rotation": [
            0.021024219691753387,
            0.052940793335437775,
            179.08372497558594
        ],
        "velocity": [
            -5.244349479675293,
            0.09978536516427994,
            0.030967367812991142
        ],
        "speed": 5.245298712568378,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 18.785058975219727,
        "front_vehicle_info": {
            "id": 37515,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                695.302978515625,
                4286.91064453125,
                369.7088928222656
            ],
            "velocity": [
                -8.053869247436523,
                0.04381221532821655,
                0.04704170301556587
            ],
            "speed_kmh": 28.994852854212326,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 37624,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.005125999450684,
                "transform": {
                    "location": {
                        "x": 652.6244506835938,
                        "y": 4297.05029296875,
                        "z": 369.94842529296875
                    },
                    "rotation": {
                        "roll": -0.0016784669132903218,
                        "pitch": -0.31198254227638245,
                        "yaw": 0.254236102104187
                    }
                },
                "velocity": {
                    "x": 8.004961013793945,
                    "y": 0.026042712852358818,
                    "z": -0.044302038848400116
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 37622,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.229050636291504,
                "transform": {
                    "location": {
                        "x": 653.0302124023438,
                        "y": 4293.80126953125,
                        "z": 369.9477233886719
                    },
                    "rotation": {
                        "roll": 0.0015492821112275124,
                        "pitch": -0.30624517798423767,
                        "yaw": 0.21289393305778503
                    }
                },
                "velocity": {
                    "x": 8.228902816772461,
                    "y": 0.02134716510772705,
                    "z": -0.04443569481372833
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 37519,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.04248046875,
                "transform": {
                    "location": {
                        "x": 693.950439453125,
                        "y": 4296.865234375,
                        "z": 369.71612548828125
                    },
                    "rotation": {
                        "roll": 0.0007392461411654949,
                        "pitch": -0.3283408284187317,
                        "yaw": -0.3301696479320526
                    }
                },
                "velocity": {
                    "x": 8.042221069335938,
                    "y": -0.04640060290694237,
                    "z": -0.04488521069288254
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37518,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.109309196472168,
                "transform": {
                    "location": {
                        "x": 694.5320434570312,
                        "y": 4293.61279296875,
                        "z": 369.72210693359375
                    },
                    "rotation": {
                        "roll": 2.6259815058438107e-05,
                        "pitch": -0.3320906162261963,
                        "yaw": -0.34442138671875
                    }
                },
                "velocity": {
                    "x": 8.109031677246094,
                    "y": -0.04864851012825966,
                    "z": -0.04630523547530174
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.416987895965576,
                "transform": {
                    "location": {
                        "x": 749.8589477539062,
                        "y": 4286.2666015625,
                        "z": 369.39013671875
                    },
                    "rotation": {
                        "roll": 0.0003927277575712651,
                        "pitch": 0.34993788599967957,
                        "yaw": 177.75698852539062
                    }
                },
                "velocity": {
                    "x": -5.412871360778809,
                    "y": 0.20861518383026123,
                    "z": 0.03255186975002289
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.836635112762451,
                "transform": {
                    "location": {
                        "x": 730.406494140625,
                        "y": 4286.69287109375,
                        "z": 369.5128479003906
                    },
                    "rotation": {
                        "roll": -0.001708984375,
                        "pitch": 0.41883400082588196,
                        "yaw": 179.58714294433594
                    }
                },
                "velocity": {
                    "x": -4.836437225341797,
                    "y": 0.033398184925317764,
                    "z": 0.0282834991812706
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.054125785827637,
                "transform": {
                    "location": {
                        "x": 695.302978515625,
                        "y": 4286.91064453125,
                        "z": 369.7088928222656
                    },
                    "rotation": {
                        "roll": 0.0033055413514375687,
                        "pitch": 0.30270713567733765,
                        "yaw": 179.70425415039062
                    }
                },
                "velocity": {
                    "x": -8.053869247436523,
                    "y": 0.04381221532821655,
                    "z": 0.04704170301556587
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.442582130432129,
                "transform": {
                    "location": {
                        "x": 673.6551513671875,
                        "y": 4287.03662109375,
                        "z": 369.86944580078125
                    },
                    "rotation": {
                        "roll": 0.0015838274266570807,
                        "pitch": 0.2718961536884308,
                        "yaw": 179.67832946777344
                    }
                },
                "velocity": {
                    "x": -7.442354679107666,
                    "y": 0.04182055965065956,
                    "z": 0.04048359766602516
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.487825393676758,
                "transform": {
                    "location": {
                        "x": 731.7844848632812,
                        "y": 4289.919921875,
                        "z": 369.5043640136719
                    },
                    "rotation": {
                        "roll": 0.002524695359170437,
                        "pitch": 0.43687936663627625,
                        "yaw": 179.40823364257812
                    }
                },
                "velocity": {
                    "x": -7.48743200302124,
                    "y": 0.06259938329458237,
                    "z": 0.04447212070226669
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.864996433258057,
                "transform": {
                    "location": {
                        "x": 715.3882446289062,
                        "y": 4290.0380859375,
                        "z": 369.59991455078125
                    },
                    "rotation": {
                        "roll": 0.00015040041762404144,
                        "pitch": 0.41893646121025085,
                        "yaw": 179.64414978027344
                    }
                },
                "velocity": {
                    "x": -6.864744186401367,
                    "y": 0.042671818286180496,
                    "z": 0.04051797837018967
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.4196038246154785,
                "transform": {
                    "location": {
                        "x": 696.3170166015625,
                        "y": 4290.15283203125,
                        "z": 369.7419738769531
                    },
                    "rotation": {
                        "roll": -0.0004577635554596782,
                        "pitch": 0.28213462233543396,
                        "yaw": 179.69668579101562
                    }
                },
                "velocity": {
                    "x": -7.419368267059326,
                    "y": 0.03944949060678482,
                    "z": 0.04407484084367752
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37510,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.015787124633789,
                "transform": {
                    "location": {
                        "x": 677.903564453125,
                        "y": 4290.259765625,
                        "z": 369.8044128417969
                    },
                    "rotation": {
                        "roll": 0.00015343597624450922,
                        "pitch": 0.3181092143058777,
                        "yaw": 179.6613006591797
                    }
                },
                "velocity": {
                    "x": -8.015523910522461,
                    "y": 0.04709956422448158,
                    "z": 0.04458849877119064
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.014900004491209984,
        "expert_target_speed": 6.163799778546115,
        "target_point": [
            32.550107336558916,
            0.2871468577571643
        ],
        "target_point_next": [
            83.54749626343776,
            0.8009536961577384
        ]
    },
    "110": {
        "acceleration": [
            0.09517669677734375,
            0.0917014479637146,
            -0.0014440342783927917
        ],
        "angular_velocity": [
            -0.005493232514709234,
            0.2580817639827728,
            -4.135096073150635
        ],
        "forward_vector": [
            -0.9997671246528625,
            0.0209813229739666,
            0.005055048502981663
        ],
        "right_vector": [
            -0.020983705297112465,
            -0.9997797608375549,
            -0.0004188232123851776
        ],
        "location": [
            712.7528076171875,
            4286.8818359375,
            369.6080627441406
        ],
        "rotation": [
            0.02399710938334465,
            0.28963416814804077,
            178.79776000976562
        ],
        "velocity": [
            -5.326154708862305,
            0.12230802327394485,
            0.030748290941119194
        ],
        "speed": 5.327558843907149,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 70.26363372802734,
        "front_vehicle_info": {
            "id": 37505,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 37624,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.197147369384766,
                "transform": {
                    "location": {
                        "x": 654.6508178710938,
                        "y": 4297.0546875,
                        "z": 369.9374084472656
                    },
                    "rotation": {
                        "roll": 0.002653930801898241,
                        "pitch": -0.3049679398536682,
                        "yaw": 0.10689681768417358
                    }
                },
                "velocity": {
                    "x": 8.197015762329102,
                    "y": 0.012787353247404099,
                    "z": -0.04466001316905022
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 37622,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.04442024230957,
                "transform": {
                    "location": {
                        "x": 655.0634155273438,
                        "y": 4293.80517578125,
                        "z": 369.9367370605469
                    },
                    "rotation": {
                        "roll": 0.0029396687168627977,
                        "pitch": -0.3118595778942108,
                        "yaw": 0.09730345010757446
                    }
                },
                "velocity": {
                    "x": 8.044294357299805,
                    "y": 0.010251296684145927,
                    "z": -0.04387672618031502
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 37519,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.087297439575195,
                "transform": {
                    "location": {
                        "x": 695.9664916992188,
                        "y": 4296.853515625,
                        "z": 369.7045593261719
                    },
                    "rotation": {
                        "roll": -0.00033569318475201726,
                        "pitch": -0.32818374037742615,
                        "yaw": -0.3309936225414276
                    }
                },
                "velocity": {
                    "x": 8.087034225463867,
                    "y": -0.04668769612908363,
                    "z": -0.04543650895357132
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37518,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.330843925476074,
                "transform": {
                    "location": {
                        "x": 696.5880126953125,
                        "y": 4293.6015625,
                        "z": 369.7102966308594
                    },
                    "rotation": {
                        "roll": -0.0001831055706134066,
                        "pitch": -0.32931071519851685,
                        "yaw": -0.3446350395679474
                    }
                },
                "velocity": {
                    "x": 8.330549240112305,
                    "y": -0.05009734630584717,
                    "z": -0.049035653471946716
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.016156196594238,
                "transform": {
                    "location": {
                        "x": 748.4032592773438,
                        "y": 4286.322265625,
                        "z": 369.39874267578125
                    },
                    "rotation": {
                        "roll": -0.0015869137132540345,
                        "pitch": 0.34980130195617676,
                        "yaw": 177.79937744140625
                    }
                },
                "velocity": {
                    "x": -6.012296676635742,
                    "y": 0.21271945536136627,
                    "z": 0.03424837812781334
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.602408409118652,
                "transform": {
                    "location": {
                        "x": 729.2255859375,
                        "y": 4286.70068359375,
                        "z": 369.52008056640625
                    },
                    "rotation": {
                        "roll": -0.00036621096660383046,
                        "pitch": 0.37040796875953674,
                        "yaw": 179.59811401367188
                    }
                },
                "velocity": {
                    "x": -4.60222053527832,
                    "y": 0.03074631839990616,
                    "z": 0.028019828721880913
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 624.9783325195312,
                        "y": 4287.42236328125,
                        "z": 370.22991943359375
                    },
                    "rotation": {
                        "roll": -5.211083300982189e-11,
                        "pitch": 0.28036558628082275,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 602.6395263671875,
                        "y": 4287.55419921875,
                        "z": 370.3494567871094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.26897966861724854,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.3279523849487305,
                "transform": {
                    "location": {
                        "x": 730.2030029296875,
                        "y": 4289.935546875,
                        "z": 369.5129089355469
                    },
                    "rotation": {
                        "roll": 0.0026329574175179005,
                        "pitch": 0.5239301323890686,
                        "yaw": 179.84439086914062
                    }
                },
                "velocity": {
                    "x": -5.3277268409729,
                    "y": 0.03756173327565193,
                    "z": 0.031500328332185745
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.336568832397461,
                "transform": {
                    "location": {
                        "x": 713.6275024414062,
                        "y": 4290.048828125,
                        "z": 369.6112060546875
                    },
                    "rotation": {
                        "roll": 0.0009023366728797555,
                        "pitch": 0.30008435249328613,
                        "yaw": 179.650146484375
                    }
                },
                "velocity": {
                    "x": -7.336308002471924,
                    "y": 0.04530860483646393,
                    "z": 0.04214072227478027
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.003297805786133,
                "transform": {
                    "location": {
                        "x": 694.4104614257812,
                        "y": 4290.1630859375,
                        "z": 369.7522888183594
                    },
                    "rotation": {
                        "roll": 0.00034147771657444537,
                        "pitch": 0.35969141125679016,
                        "yaw": 179.68365478515625
                    }
                },
                "velocity": {
                    "x": -8.003031730651855,
                    "y": 0.04593057557940483,
                    "z": 0.04629265516996384
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37625,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.521556854248047,
                "transform": {
                    "location": {
                        "x": 746.367431640625,
                        "y": 4289.76953125,
                        "z": 369.69921875
                    },
                    "rotation": {
                        "roll": 8.337773804711901e-10,
                        "pitch": 0.3331424593925476,
                        "yaw": 178.00074768066406
                    }
                },
                "velocity": {
                    "x": -5.32750129699707,
                    "y": 0.1859714835882187,
                    "z": -1.4390045404434204
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.016402218490839005,
        "expert_target_speed": 10.0,
        "target_point": [
            31.213160266353007,
            0.4484450158155121
        ],
        "target_point_next": [
            82.2073495788213,
            1.2167751471246737
        ]
    },
    "115": {
        "acceleration": [
            -4.578762054443359,
            0.18493175506591797,
            0.015531927347183228
        ],
        "angular_velocity": [
            0.018696535378694534,
            0.9578678011894226,
            1.7100067138671875
        ],
        "forward_vector": [
            -0.9996683597564697,
            0.022616468369960785,
            0.012315677478909492
        ],
        "right_vector": [
            -0.02262295037508011,
            -0.9997439980506897,
            -0.0003873180248774588
        ],
        "location": [
            711.228271484375,
            4286.91845703125,
            369.61541748046875
        ],
        "rotation": [
            0.022193370386958122,
            0.7056541442871094,
            178.70396423339844
        ],
        "velocity": [
            -6.785427093505859,
            0.1716960072517395,
            0.03825883939862251
        ],
        "speed": 6.787599012919779,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 68.73954010009766,
        "front_vehicle_info": {
            "id": 37505,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 37624,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.9987053871154785,
                "transform": {
                    "location": {
                        "x": 656.6741943359375,
                        "y": 4297.056640625,
                        "z": 369.9265441894531
                    },
                    "rotation": {
                        "roll": 0.004654454067349434,
                        "pitch": -0.3103910982608795,
                        "yaw": 0.037544991821050644
                    }
                },
                "velocity": {
                    "x": 7.9985880851745605,
                    "y": -0.0024481224827468395,
                    "z": -0.04322069510817528
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 37622,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.226914405822754,
                "transform": {
                    "location": {
                        "x": 657.0980834960938,
                        "y": 4293.8056640625,
                        "z": 369.92584228515625
                    },
                    "rotation": {
                        "roll": 0.009958518669009209,
                        "pitch": -0.30477669835090637,
                        "yaw": 0.010228213854134083
                    }
                },
                "velocity": {
                    "x": 8.226788520812988,
                    "y": -0.008123901672661304,
                    "z": -0.04483633115887642
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 37519,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.053147315979004,
                "transform": {
                    "location": {
                        "x": 697.984375,
                        "y": 4296.841796875,
                        "z": 369.6929626464844
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": -0.330751895904541,
                        "yaw": -0.335357666015625
                    }
                },
                "velocity": {
                    "x": 8.05288028717041,
                    "y": -0.047917041927576065,
                    "z": -0.044817566871643066
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37518,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.109599113464355,
                "transform": {
                    "location": {
                        "x": 698.641845703125,
                        "y": 4293.58935546875,
                        "z": 369.6984558105469
                    },
                    "rotation": {
                        "roll": 1.6147561836987734e-05,
                        "pitch": -0.33547839522361755,
                        "yaw": -0.344635009765625
                    }
                },
                "velocity": {
                    "x": 8.10931396484375,
                    "y": -0.04876839369535446,
                    "z": -0.04732392355799675
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.210458755493164,
                "transform": {
                    "location": {
                        "x": 746.736572265625,
                        "y": 4286.37841796875,
                        "z": 369.40838623046875
                    },
                    "rotation": {
                        "roll": -0.002258300082758069,
                        "pitch": 0.36115989089012146,
                        "yaw": 178.1066131591797
                    }
                },
                "velocity": {
                    "x": -7.206878662109375,
                    "y": 0.2233334183692932,
                    "z": 0.04176323860883713
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.119080066680908,
                "transform": {
                    "location": {
                        "x": 728.0120239257812,
                        "y": 4286.70849609375,
                        "z": 369.5271301269531
                    },
                    "rotation": {
                        "roll": -0.0006713864859193563,
                        "pitch": 0.40097305178642273,
                        "yaw": 179.61305236816406
                    }
                },
                "velocity": {
                    "x": -5.118874549865723,
                    "y": 0.03329187259078026,
                    "z": 0.031564198434352875
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 624.9783325195312,
                        "y": 4287.42236328125,
                        "z": 370.22991943359375
                    },
                    "rotation": {
                        "roll": -5.211083300982189e-11,
                        "pitch": 0.28036558628082275,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 602.6395263671875,
                        "y": 4287.55419921875,
                        "z": 370.3494567871094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.26897966861724854,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.170287609100342,
                "transform": {
                    "location": {
                        "x": 728.9107666015625,
                        "y": 4289.9443359375,
                        "z": 369.5216369628906
                    },
                    "rotation": {
                        "roll": 0.00036781124072149396,
                        "pitch": 0.38117918372154236,
                        "yaw": 179.69447326660156
                    }
                },
                "velocity": {
                    "x": -5.170040130615234,
                    "y": 0.04094192013144493,
                    "z": 0.029700545594096184
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.62714958190918,
                "transform": {
                    "location": {
                        "x": 711.6867065429688,
                        "y": 4290.06103515625,
                        "z": 369.623046875
                    },
                    "rotation": {
                        "roll": 0.00018627286772243679,
                        "pitch": 0.2251640111207962,
                        "yaw": 179.6611328125
                    }
                },
                "velocity": {
                    "x": -8.626846313476562,
                    "y": 0.05174817517399788,
                    "z": 0.05046389624476433
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.218354225158691,
                "transform": {
                    "location": {
                        "x": 692.3450927734375,
                        "y": 4290.1748046875,
                        "z": 369.7640075683594
                    },
                    "rotation": {
                        "roll": 0.0013414152199402452,
                        "pitch": 0.36048370599746704,
                        "yaw": 179.67481994628906
                    }
                },
                "velocity": {
                    "x": -8.218073844909668,
                    "y": 0.047963809221982956,
                    "z": 0.048086948692798615
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37625,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.040558338165283,
                "transform": {
                    "location": {
                        "x": 745.0692138671875,
                        "y": 4289.80419921875,
                        "z": 369.3608093261719
                    },
                    "rotation": {
                        "roll": -0.0969543308019638,
                        "pitch": 0.27477848529815674,
                        "yaw": 178.40371704101562
                    }
                },
                "velocity": {
                    "x": -5.037821292877197,
                    "y": 0.07192979007959366,
                    "z": -0.14970538020133972
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.042840175330638885,
        "expert_target_speed": 10.0,
        "target_point": [
            29.68740992728118,
            0.5016698698906868
        ],
        "target_point_next": [
            80.68027317294074,
            1.3534755026459586
        ]
    },
    "120": {
        "acceleration": [
            0.6595516204833984,
            -0.08281350135803223,
            -0.005588531494140625
        ],
        "angular_velocity": [
            -0.05605989694595337,
            -0.9458210468292236,
            -3.022334098815918
        ],
        "forward_vector": [
            -0.999549150466919,
            0.026307664811611176,
            0.014471263624727726
        ],
        "right_vector": [
            -0.02631542645394802,
            -0.9996536374092102,
            -0.00034615100594237447
        ],
        "location": [
            709.364990234375,
            4286.96826171875,
            369.6257629394531
        ],
        "rotation": [
            0.01983506977558136,
            0.8291712403297424,
            178.4923553466797
        ],
        "velocity": [
            -7.864363670349121,
            0.2137479931116104,
            0.045336827635765076
        ],
        "speed": 7.86726789578608,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 66.87690734863281,
        "front_vehicle_info": {
            "id": 37505,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 37624,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.190905570983887,
                "transform": {
                    "location": {
                        "x": 658.69873046875,
                        "y": 4297.0537109375,
                        "z": 369.9156799316406
                    },
                    "rotation": {
                        "roll": 0.006643595639616251,
                        "pitch": -0.3072833716869354,
                        "yaw": -0.1059265211224556
                    }
                },
                "velocity": {
                    "x": 8.190757751464844,
                    "y": -0.018260447308421135,
                    "z": -0.04566513001918793
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 37622,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.0427827835083,
                "transform": {
                    "location": {
                        "x": 659.1307373046875,
                        "y": 4293.80224609375,
                        "z": 369.9149169921875
                    },
                    "rotation": {
                        "roll": 0.009368514642119408,
                        "pitch": -0.31310951709747314,
                        "yaw": -0.1129760593175888
                    }
                },
                "velocity": {
                    "x": 8.042647361755371,
                    "y": -0.01956743374466896,
                    "z": -0.04241150617599487
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 37519,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.082464218139648,
                "transform": {
                    "location": {
                        "x": 700.0010986328125,
                        "y": 4296.830078125,
                        "z": 369.6813049316406
                    },
                    "rotation": {
                        "roll": -0.00015258791972883046,
                        "pitch": -0.3319949805736542,
                        "yaw": -0.34039306640625
                    }
                },
                "velocity": {
                    "x": 8.082189559936523,
                    "y": -0.0480029322206974,
                    "z": -0.04633273184299469
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37518,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.331042289733887,
                "transform": {
                    "location": {
                        "x": 700.6978759765625,
                        "y": 4293.578125,
                        "z": 369.6865539550781
                    },
                    "rotation": {
                        "roll": 0.00036668681423179805,
                        "pitch": -0.33190619945526123,
                        "yaw": -0.344757080078125
                    }
                },
                "velocity": {
                    "x": 8.33074951171875,
                    "y": -0.05008750408887863,
                    "z": -0.0487259179353714
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.018819808959961,
                "transform": {
                    "location": {
                        "x": 744.8271484375,
                        "y": 4286.43798828125,
                        "z": 369.4196472167969
                    },
                    "rotation": {
                        "roll": -0.001190185546875,
                        "pitch": 0.3564402461051941,
                        "yaw": 178.24472045898438
                    }
                },
                "velocity": {
                    "x": -8.015101432800293,
                    "y": 0.23981830477714539,
                    "z": 0.04585661739110947
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.385506629943848,
                "transform": {
                    "location": {
                        "x": 726.7062377929688,
                        "y": 4286.716796875,
                        "z": 369.5347595214844
                    },
                    "rotation": {
                        "roll": -1.0422316482072702e-10,
                        "pitch": 0.41682592034339905,
                        "yaw": 179.61685180664062
                    }
                },
                "velocity": {
                    "x": -5.385309219360352,
                    "y": 0.03540998697280884,
                    "z": 0.029600543901324272
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 624.9783325195312,
                        "y": 4287.42236328125,
                        "z": 370.22991943359375
                    },
                    "rotation": {
                        "roll": -5.211083300982189e-11,
                        "pitch": 0.28036558628082275,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 602.6395263671875,
                        "y": 4287.55419921875,
                        "z": 370.3494567871094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.26897966861724854,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.5909504890441895,
                "transform": {
                    "location": {
                        "x": 727.554443359375,
                        "y": 4289.95361328125,
                        "z": 369.530029296875
                    },
                    "rotation": {
                        "roll": -0.0003662109375,
                        "pitch": 0.29909396171569824,
                        "yaw": 179.6758270263672
                    }
                },
                "velocity": {
                    "x": -5.590717792510986,
                    "y": 0.03896773234009743,
                    "z": 0.03294548764824867
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.494719505310059,
                "transform": {
                    "location": {
                        "x": 709.4957885742188,
                        "y": 4290.07373046875,
                        "z": 369.6351013183594
                    },
                    "rotation": {
                        "roll": 3.38092831952963e-05,
                        "pitch": 0.3095851242542267,
                        "yaw": 179.65992736816406
                    }
                },
                "velocity": {
                    "x": -8.494424819946289,
                    "y": 0.05006187781691551,
                    "z": 0.05007690191268921
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.831284999847412,
                "transform": {
                    "location": {
                        "x": 690.3523559570312,
                        "y": 4290.1865234375,
                        "z": 369.77587890625
                    },
                    "rotation": {
                        "roll": 0.00010361161548644304,
                        "pitch": 0.29957208037376404,
                        "yaw": 179.67269897460938
                    }
                },
                "velocity": {
                    "x": -7.831029415130615,
                    "y": 0.04470229893922806,
                    "z": 0.04476288706064224
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37625,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.913975715637207,
                "transform": {
                    "location": {
                        "x": 743.7938842773438,
                        "y": 4289.822265625,
                        "z": 369.3935852050781
                    },
                    "rotation": {
                        "roll": -0.05221555754542351,
                        "pitch": 0.2978440523147583,
                        "yaw": 178.9835968017578
                    }
                },
                "velocity": {
                    "x": -4.910569190979004,
                    "y": 0.05819016695022583,
                    "z": 0.17344576120376587
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.08489006012678146,
        "expert_target_speed": 10.0,
        "target_point": [
            27.821407864561312,
            0.6120830793516001
        ],
        "target_point_next": [
            78.81077706895307,
            1.652228725286935
        ]
    },
    "125": {
        "acceleration": [
            -6.2146759033203125,
            0.15552937984466553,
            0.033859238028526306
        ],
        "angular_velocity": [
            -0.03347015380859375,
            0.7060340046882629,
            0.6135851144790649
        ],
        "forward_vector": [
            -0.9995137453079224,
            0.026296718046069145,
            0.016753602772951126
        ],
        "right_vector": [
            -0.02630039118230343,
            -0.9996540546417236,
            1.065127321453474e-06
        ],
        "location": [
            707.2188110351562,
            4287.025390625,
            369.6377258300781
        ],
        "rotation": [
            -6.103586929384619e-05,
            0.9599556922912598,
            178.492919921875
        ],
        "velocity": [
            -9.466344833374023,
            0.254350870847702,
            0.054710108786821365
        ],
        "speed": 9.469761288958031,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 64.7315673828125,
        "front_vehicle_info": {
            "id": 37505,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 37624,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.400219917297363,
                "transform": {
                    "location": {
                        "x": 660.560791015625,
                        "y": 4297.048828125,
                        "z": 369.90533447265625
                    },
                    "rotation": {
                        "roll": 0.0023101067636162043,
                        "pitch": -0.5378363728523254,
                        "yaw": -0.1580810397863388
                    }
                },
                "velocity": {
                    "x": 6.400097370147705,
                    "y": -0.01920747011899948,
                    "z": -0.03458492085337639
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 37622,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.877594470977783,
                "transform": {
                    "location": {
                        "x": 661.1616821289062,
                        "y": 4293.79638671875,
                        "z": 369.9039611816406
                    },
                    "rotation": {
                        "roll": 0.0058873300440609455,
                        "pitch": -0.32907167077064514,
                        "yaw": -0.162445068359375
                    }
                },
                "velocity": {
                    "x": 7.877445697784424,
                    "y": -0.02359916642308235,
                    "z": -0.042234666645526886
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 37519,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.053342819213867,
                "transform": {
                    "location": {
                        "x": 702.0178833007812,
                        "y": 4296.81884765625,
                        "z": 369.6696472167969
                    },
                    "rotation": {
                        "roll": -0.0009155272273346782,
                        "pitch": -0.3315441906452179,
                        "yaw": -0.3441162109375
                    }
                },
                "velocity": {
                    "x": 8.053070068359375,
                    "y": -0.04840860888361931,
                    "z": -0.04531941935420036
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37518,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.1098051071167,
                "transform": {
                    "location": {
                        "x": 702.751708984375,
                        "y": 4293.56591796875,
                        "z": 369.6746826171875
                    },
                    "rotation": {
                        "roll": 0.00017039000522345304,
                        "pitch": -0.3350276052951813,
                        "yaw": -0.3446044623851776
                    }
                },
                "velocity": {
                    "x": 8.109519004821777,
                    "y": -0.048762619495391846,
                    "z": -0.04756256565451622
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.541435241699219,
                "transform": {
                    "location": {
                        "x": 742.7503662109375,
                        "y": 4286.49853515625,
                        "z": 369.4319152832031
                    },
                    "rotation": {
                        "roll": -0.0023193359375,
                        "pitch": 0.351085364818573,
                        "yaw": 178.38633728027344
                    }
                },
                "velocity": {
                    "x": -8.538581848144531,
                    "y": 0.2152501493692398,
                    "z": 0.048995912075042725
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.660808086395264,
                "transform": {
                    "location": {
                        "x": 725.228271484375,
                        "y": 4286.72607421875,
                        "z": 369.5416564941406
                    },
                    "rotation": {
                        "roll": -0.0003967283701058477,
                        "pitch": 0.5937824845314026,
                        "yaw": 179.61163330078125
                    }
                },
                "velocity": {
                    "x": -6.660557270050049,
                    "y": 0.04348069429397583,
                    "z": 0.03810160607099533
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 624.9783325195312,
                        "y": 4287.42236328125,
                        "z": 370.22991943359375
                    },
                    "rotation": {
                        "roll": -5.211083300982189e-11,
                        "pitch": 0.28036558628082275,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 602.6395263671875,
                        "y": 4287.55419921875,
                        "z": 370.3494567871094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.26897966861724854,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.377790451049805,
                "transform": {
                    "location": {
                        "x": 725.9285888671875,
                        "y": 4289.96435546875,
                        "z": 369.54058837890625
                    },
                    "rotation": {
                        "roll": -0.0013122557429596782,
                        "pitch": 0.18035796284675598,
                        "yaw": 179.568115234375
                    }
                },
                "velocity": {
                    "x": -7.3774638175964355,
                    "y": 0.054422810673713684,
                    "z": 0.04310743138194084
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.911985874176025,
                "transform": {
                    "location": {
                        "x": 707.4566040039062,
                        "y": 4290.08544921875,
                        "z": 369.6463623046875
                    },
                    "rotation": {
                        "roll": 0.0007728486671112478,
                        "pitch": 0.384498655796051,
                        "yaw": 179.66004943847656
                    }
                },
                "velocity": {
                    "x": -7.911710739135742,
                    "y": 0.046911224722862244,
                    "z": 0.04638882353901863
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.110541343688965,
                "transform": {
                    "location": {
                        "x": 688.3652954101562,
                        "y": 4290.1982421875,
                        "z": 369.786865234375
                    },
                    "rotation": {
                        "roll": 0.0005679136957041919,
                        "pitch": 0.3433808982372284,
                        "yaw": 179.67257690429688
                    }
                },
                "velocity": {
                    "x": -8.110281944274902,
                    "y": 0.04627681523561478,
                    "z": 0.04548032581806183
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37625,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.834484577178955,
                "transform": {
                    "location": {
                        "x": 742.64453125,
                        "y": 4289.8369140625,
                        "z": 369.4233093261719
                    },
                    "rotation": {
                        "roll": -0.01943969540297985,
                        "pitch": 0.25949937105178833,
                        "yaw": 179.1865997314453
                    }
                },
                "velocity": {
                    "x": -4.833436012268066,
                    "y": 0.0540277324616909,
                    "z": 0.08495944738388062
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1057591363787651,
        "expert_target_speed": 10.0,
        "target_point": [
            25.6744746764331,
            0.6124685902498364
        ],
        "target_point_next": [
            76.66385429385042,
            1.6521036499889212
        ]
    },
    "130": {
        "acceleration": [
            -4.568424224853516,
            0.05950510501861572,
            0.0028581172227859497
        ],
        "angular_velocity": [
            0.02154732495546341,
            -0.3084586262702942,
            -0.8362822532653809
        ],
        "forward_vector": [
            -0.9995226263999939,
            0.026146477088332176,
            0.016459079459309578
        ],
        "right_vector": [
            -0.0261464174836874,
            -0.9996581673622131,
            0.0002188821672461927
        ],
        "location": [
            704.6900024414062,
            4287.09228515625,
            369.6524963378906
        ],
        "rotation": [
            -0.012542723678052425,
            0.943078339099884,
            178.5015411376953
        ],
        "velocity": [
            -10.676379203796387,
            0.27530837059020996,
            0.06103453412652016
        ],
        "speed": 10.67992825828774,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 62.20388412475586,
        "front_vehicle_info": {
            "id": 37505,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 37624,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.131720542907715,
                "transform": {
                    "location": {
                        "x": 662.0938110351562,
                        "y": 4297.0439453125,
                        "z": 369.8972473144531
                    },
                    "rotation": {
                        "roll": 0.001550958608277142,
                        "pitch": -0.4060683846473694,
                        "yaw": -0.194793701171875
                    }
                },
                "velocity": {
                    "x": 6.131583213806152,
                    "y": -0.02452564425766468,
                    "z": -0.03284890204668045
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 37622,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.415292739868164,
                "transform": {
                    "location": {
                        "x": 662.8624877929688,
                        "y": 4293.7900390625,
                        "z": 369.8948059082031
                    },
                    "rotation": {
                        "roll": 0.005598903633654118,
                        "pitch": -0.5252073407173157,
                        "yaw": -0.2126464545726776
                    }
                },
                "velocity": {
                    "x": 6.415132999420166,
                    "y": -0.02770405076444149,
                    "z": -0.0358407199382782
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 37519,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084707260131836,
                "transform": {
                    "location": {
                        "x": 704.03515625,
                        "y": 4296.806640625,
                        "z": 369.6579895019531
                    },
                    "rotation": {
                        "roll": 0.0002758233458735049,
                        "pitch": -0.331783264875412,
                        "yaw": -0.3448486626148224
                    }
                },
                "velocity": {
                    "x": 8.084428787231445,
                    "y": -0.04862593114376068,
                    "z": -0.04623838886618614
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37518,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.074305534362793,
                "transform": {
                    "location": {
                        "x": 704.7575073242188,
                        "y": 4293.5546875,
                        "z": 369.6640625
                    },
                    "rotation": {
                        "roll": 0.0010551208397373557,
                        "pitch": -0.46273162961006165,
                        "yaw": -0.3482665717601776
                    }
                },
                "velocity": {
                    "x": 7.074045658111572,
                    "y": -0.04412037134170532,
                    "z": -0.041603464633226395
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.163207054138184,
                "transform": {
                    "location": {
                        "x": 740.5330810546875,
                        "y": 4286.55126953125,
                        "z": 369.44488525390625
                    },
                    "rotation": {
                        "roll": -0.0029907221905887127,
                        "pitch": 0.35191863775253296,
                        "yaw": 178.70135498046875
                    }
                },
                "velocity": {
                    "x": -9.161001205444336,
                    "y": 0.1938314139842987,
                    "z": 0.05339774861931801
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.994382858276367,
                "transform": {
                    "location": {
                        "x": 723.3814086914062,
                        "y": 4286.73876953125,
                        "z": 369.5516357421875
                    },
                    "rotation": {
                        "roll": -0.0010375975398346782,
                        "pitch": 0.6906003952026367,
                        "yaw": 179.64044189453125
                    }
                },
                "velocity": {
                    "x": -7.994081020355225,
                    "y": 0.05179676041007042,
                    "z": 0.04629523307085037
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 624.9783325195312,
                        "y": 4287.42236328125,
                        "z": 370.22991943359375
                    },
                    "rotation": {
                        "roll": -5.211083300982189e-11,
                        "pitch": 0.28036558628082275,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 602.6395263671875,
                        "y": 4287.55419921875,
                        "z": 370.3494567871094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.26897966861724854,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.33319091796875,
                "transform": {
                    "location": {
                        "x": 723.9539794921875,
                        "y": 4289.978515625,
                        "z": 369.55169677734375
                    },
                    "rotation": {
                        "roll": 0.00033871730556711555,
                        "pitch": 0.21648965775966644,
                        "yaw": 179.5790252685547
                    }
                },
                "velocity": {
                    "x": -8.332845687866211,
                    "y": 0.05881521478295326,
                    "z": 0.04798881337046623
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.9534430503845215,
                "transform": {
                    "location": {
                        "x": 705.4896240234375,
                        "y": 4290.09716796875,
                        "z": 369.658203125
                    },
                    "rotation": {
                        "roll": 0.0005955544766038656,
                        "pitch": 0.3325960338115692,
                        "yaw": 179.66221618652344
                    }
                },
                "velocity": {
                    "x": -7.953188419342041,
                    "y": 0.04523297771811485,
                    "z": 0.044838856905698776
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.058313369750977,
                "transform": {
                    "location": {
                        "x": 686.3329467773438,
                        "y": 4290.2099609375,
                        "z": 369.7984619140625
                    },
                    "rotation": {
                        "roll": 0.0002678613818716258,
                        "pitch": 0.32524675130844116,
                        "yaw": 179.66552734375
                    }
                },
                "velocity": {
                    "x": -8.058053016662598,
                    "y": 0.04713181406259537,
                    "z": 0.04434962198138237
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37625,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.257087707519531,
                "transform": {
                    "location": {
                        "x": 741.3485717773438,
                        "y": 4289.85107421875,
                        "z": 369.43853759765625
                    },
                    "rotation": {
                        "roll": -0.00793456844985485,
                        "pitch": 0.45155060291290283,
                        "yaw": 179.2970733642578
                    }
                },
                "velocity": {
                    "x": -5.256579875946045,
                    "y": 0.056800082325935364,
                    "z": 0.04599843919277191
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.13149042427539825,
        "expert_target_speed": 10.0,
        "target_point": [
            23.144873562580344,
            0.6093442175003532
        ],
        "target_point_next": [
            74.13440925392398,
            1.6412961581096512
        ]
    },
    "135": {
        "acceleration": [
            -3.945293426513672,
            0.022552013397216797,
            0.03873288631439209
        ],
        "angular_velocity": [
            -0.0765027329325676,
            -0.3079381585121155,
            0.863534152507782
        ],
        "forward_vector": [
            -0.9995795488357544,
            0.02460433542728424,
            0.015343421138823032
        ],
        "right_vector": [
            -0.02460107021033764,
            -0.9996973276138306,
            0.0004015573940705508
        ],
        "location": [
            701.8765258789062,
            4287.16259765625,
            369.6689453125
        ],
        "rotation": [
            -0.02301025204360485,
            0.8791477680206299,
            178.5899658203125
        ],
        "velocity": [
            -11.761051177978516,
            0.28562799096107483,
            0.06790721416473389
        ],
        "speed": 11.764519036503374,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 59.39179611206055,
        "front_vehicle_info": {
            "id": 37505,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 37628,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 622.595458984375,
                        "y": 4297.1875,
                        "z": 370.48931884765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2816428244113922,
                        "yaw": -0.3386535048484802
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37627,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 623.1646118164062,
                        "y": 4293.93408203125,
                        "z": 370.4194030761719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.28036558628082275,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 37624,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.5021748542785645,
                "transform": {
                    "location": {
                        "x": 663.7220458984375,
                        "y": 4297.037109375,
                        "z": 369.8887939453125
                    },
                    "rotation": {
                        "roll": 0.0008274067658931017,
                        "pitch": -0.14975188672542572,
                        "yaw": -0.2388915866613388
                    }
                },
                "velocity": {
                    "x": 7.501995086669922,
                    "y": -0.03357454761862755,
                    "z": -0.03964676335453987
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 37622,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.538934230804443,
                "transform": {
                    "location": {
                        "x": 664.4791870117188,
                        "y": 4293.7822265625,
                        "z": 369.88604736328125
                    },
                    "rotation": {
                        "roll": 0.0013882552739232779,
                        "pitch": -0.3530319631099701,
                        "yaw": -0.2473755180835724
                    }
                },
                "velocity": {
                    "x": 6.538764953613281,
                    "y": -0.029772445559501648,
                    "z": -0.03643104434013367
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 37519,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.05211067199707,
                "transform": {
                    "location": {
                        "x": 706.0519409179688,
                        "y": 4296.79541015625,
                        "z": 369.6463317871094
                    },
                    "rotation": {
                        "roll": -0.00021362313418649137,
                        "pitch": -0.33288291096687317,
                        "yaw": -0.3446654975414276
                    }
                },
                "velocity": {
                    "x": 8.051833152770996,
                    "y": -0.048459213227033615,
                    "z": -0.046084851026535034
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37518,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.687508583068848,
                "transform": {
                    "location": {
                        "x": 706.3041381835938,
                        "y": 4293.54443359375,
                        "z": 369.6575622558594
                    },
                    "rotation": {
                        "roll": -0.0006408688495866954,
                        "pitch": -0.7666682004928589,
                        "yaw": -0.355010986328125
                    }
                },
                "velocity": {
                    "x": 5.687304973602295,
                    "y": -0.03536749258637428,
                    "z": -0.03270434960722923
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.560345649719238,
                "transform": {
                    "location": {
                        "x": 738.3161010742188,
                        "y": 4286.59716796875,
                        "z": 369.4580383300781
                    },
                    "rotation": {
                        "roll": -0.003509520087391138,
                        "pitch": 0.3265376687049866,
                        "yaw": 178.89707946777344
                    }
                },
                "velocity": {
                    "x": -8.558907508850098,
                    "y": 0.14825177192687988,
                    "z": 0.051415737718343735
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.268686294555664,
                "transform": {
                    "location": {
                        "x": 721.2137451171875,
                        "y": 4286.75244140625,
                        "z": 369.56475830078125
                    },
                    "rotation": {
                        "roll": -0.002349853515625,
                        "pitch": 0.6334795355796814,
                        "yaw": 179.67486572265625
                    }
                },
                "velocity": {
                    "x": -9.268362045288086,
                    "y": 0.05609897896647453,
                    "z": 0.053661830723285675
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 624.9783325195312,
                        "y": 4287.42236328125,
                        "z": 370.22991943359375
                    },
                    "rotation": {
                        "roll": -5.211083300982189e-11,
                        "pitch": 0.28036558628082275,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 602.6395263671875,
                        "y": 4287.55419921875,
                        "z": 370.3494567871094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.26897966861724854,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.467964172363281,
                "transform": {
                    "location": {
                        "x": 721.806396484375,
                        "y": 4289.994140625,
                        "z": 369.56341552734375
                    },
                    "rotation": {
                        "roll": 0.00032617166289128363,
                        "pitch": 0.30485183000564575,
                        "yaw": 179.5867156982422
                    }
                },
                "velocity": {
                    "x": -8.46760368347168,
                    "y": 0.06100594252347946,
                    "z": 0.04881718382239342
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.295737266540527,
                "transform": {
                    "location": {
                        "x": 703.4486083984375,
                        "y": 4290.109375,
                        "z": 369.6701965332031
                    },
                    "rotation": {
                        "roll": -0.0006408690242096782,
                        "pitch": 0.3032740354537964,
                        "yaw": 179.66387939453125
                    }
                },
                "velocity": {
                    "x": -8.29544734954834,
                    "y": 0.04874517396092415,
                    "z": 0.04942331090569496
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.935178279876709,
                "transform": {
                    "location": {
                        "x": 684.3435668945312,
                        "y": 4290.2216796875,
                        "z": 369.80975341796875
                    },
                    "rotation": {
                        "roll": 3.611375723266974e-05,
                        "pitch": 0.3160601556301117,
                        "yaw": 179.66455078125
                    }
                },
                "velocity": {
                    "x": -7.934922218322754,
                    "y": 0.04648248106241226,
                    "z": 0.04363604262471199
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37625,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.64022970199585,
                "transform": {
                    "location": {
                        "x": 739.8943481445312,
                        "y": 4289.86669921875,
                        "z": 369.4478759765625
                    },
                    "rotation": {
                        "roll": -0.004150389228016138,
                        "pitch": 0.7618460655212402,
                        "yaw": 179.3577423095703
                    }
                },
                "velocity": {
                    "x": -6.639726638793945,
                    "y": 0.07054048031568527,
                    "z": 0.04132981225848198
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.1501372754573822,
        "expert_target_speed": 10.0,
        "target_point": [
            20.33143142695985,
            0.5746897189396241
        ],
        "target_point_next": [
            71.32249876327467,
            1.5279613118973168
        ]
    },
    "140": {
        "acceleration": [
            -1.5482711791992188,
            -0.09525179862976074,
            0.019389092922210693
        ],
        "angular_velocity": [
            -0.04302975907921791,
            -0.7846382260322571,
            -0.1607895791530609
        ],
        "forward_vector": [
            -0.9996651411056519,
            0.022463304921984673,
            0.012844923883676529
        ],
        "right_vector": [
            -0.02245677448809147,
            -0.9997475743293762,
            0.0006524205673485994
        ],
        "location": [
            698.8440551757812,
            4287.23291015625,
            369.6869812011719
        ],
        "rotation": [
            -0.037384033203125,
            0.7359801530838013,
            178.71273803710938
        ],
        "velocity": [
            -12.390084266662598,
            0.2715703248977661,
            0.07142376154661179
        ],
        "speed": 12.393060097343396,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 56.36097717285156,
        "front_vehicle_info": {
            "id": 37505,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 37628,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 623.8562622070312,
                        "y": 4297.18017578125,
                        "z": 370.2576904296875
                    },
                    "rotation": {
                        "roll": 5.211085035705665e-11,
                        "pitch": -0.28500327467918396,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37627,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 625.2354736328125,
                        "y": 4293.921875,
                        "z": 370.1926574707031
                    },
                    "rotation": {
                        "roll": 5.211085035705665e-11,
                        "pitch": -0.28500327467918396,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 37624,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.318156242370605,
                "transform": {
                    "location": {
                        "x": 665.77294921875,
                        "y": 4297.02734375,
                        "z": 369.8775939941406
                    },
                    "rotation": {
                        "roll": -0.00128173828125,
                        "pitch": -0.17111672461032867,
                        "yaw": -0.2134399116039276
                    }
                },
                "velocity": {
                    "x": 8.317951202392578,
                    "y": -0.03791901841759682,
                    "z": -0.044527001678943634
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 37622,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.682784080505371,
                "transform": {
                    "location": {
                        "x": 666.4575805664062,
                        "y": 4293.7734375,
                        "z": 369.8753356933594
                    },
                    "rotation": {
                        "roll": 0.00040366590837948024,
                        "pitch": -0.012608528137207031,
                        "yaw": -0.2627868354320526
                    }
                },
                "velocity": {
                    "x": 8.682571411132812,
                    "y": -0.039417605847120285,
                    "z": -0.04627113416790962
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 37519,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084420204162598,
                "transform": {
                    "location": {
                        "x": 708.0692138671875,
                        "y": 4296.783203125,
                        "z": 369.6346130371094
                    },
                    "rotation": {
                        "roll": 0.00014362105866894126,
                        "pitch": -0.33245259523391724,
                        "yaw": -0.3477477431297302
                    }
                },
                "velocity": {
                    "x": 8.084136962890625,
                    "y": -0.04915894940495491,
                    "z": -0.04654071107506752
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37518,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.715400695800781,
                "transform": {
                    "location": {
                        "x": 707.6956176757812,
                        "y": 4293.53662109375,
                        "z": 369.6466064453125
                    },
                    "rotation": {
                        "roll": -6.103516352595761e-05,
                        "pitch": -0.40246203541755676,
                        "yaw": -0.35296630859375
                    }
                },
                "velocity": {
                    "x": 5.715188026428223,
                    "y": -0.03527413308620453,
                    "z": -0.03443698212504387
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.642195701599121,
                "transform": {
                    "location": {
                        "x": 736.1828002929688,
                        "y": 4286.63037109375,
                        "z": 369.4706115722656
                    },
                    "rotation": {
                        "roll": -0.003173827426508069,
                        "pitch": 0.33657121658325195,
                        "yaw": 179.17886352539062
                    }
                },
                "velocity": {
                    "x": -8.641350746154785,
                    "y": 0.11037450283765793,
                    "z": 0.049155205488204956
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.990880012512207,
                "transform": {
                    "location": {
                        "x": 718.7821655273438,
                        "y": 4286.76708984375,
                        "z": 369.5798645019531
                    },
                    "rotation": {
                        "roll": -0.00018310533778276294,
                        "pitch": 0.5145112872123718,
                        "yaw": 179.65000915527344
                    }
                },
                "velocity": {
                    "x": -9.99053955078125,
                    "y": 0.05922045558691025,
                    "z": 0.057396046817302704
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 624.9783325195312,
                        "y": 4287.42236328125,
                        "z": 370.22991943359375
                    },
                    "rotation": {
                        "roll": -5.211083300982189e-11,
                        "pitch": 0.28036558628082275,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 602.6395263671875,
                        "y": 4287.55419921875,
                        "z": 370.3494567871094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.26897966861724854,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.230875968933105,
                "transform": {
                    "location": {
                        "x": 719.7476196289062,
                        "y": 4290.0087890625,
                        "z": 369.5751037597656
                    },
                    "rotation": {
                        "roll": 0.0011351302964612842,
                        "pitch": 0.34795713424682617,
                        "yaw": 179.60267639160156
                    }
                },
                "velocity": {
                    "x": -8.230555534362793,
                    "y": 0.054257914423942566,
                    "z": 0.0483553484082222
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.644880294799805,
                "transform": {
                    "location": {
                        "x": 701.3466186523438,
                        "y": 4290.12109375,
                        "z": 369.6825256347656
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": 0.2916695475578308,
                        "yaw": 179.66383361816406
                    }
                },
                "velocity": {
                    "x": -8.644587516784668,
                    "y": 0.05070429667830467,
                    "z": 0.049856144934892654
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.102869033813477,
                "transform": {
                    "location": {
                        "x": 682.3345336914062,
                        "y": 4290.2333984375,
                        "z": 369.82086181640625
                    },
                    "rotation": {
                        "roll": -0.00021362300321925431,
                        "pitch": 0.3312026858329773,
                        "yaw": 179.6612091064453
                    }
                },
                "velocity": {
                    "x": -8.102593421936035,
                    "y": 0.04789834842085838,
                    "z": 0.04656302183866501
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37625,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.013811111450195,
                "transform": {
                    "location": {
                        "x": 738.0587158203125,
                        "y": 4289.88525390625,
                        "z": 369.4584655761719
                    },
                    "rotation": {
                        "roll": -0.012481688521802425,
                        "pitch": 0.905983567237854,
                        "yaw": 179.42269897460938
                    }
                },
                "velocity": {
                    "x": -8.013357162475586,
                    "y": 0.07152389734983444,
                    "z": 0.04654005914926529
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.1679224818944931,
        "expert_target_speed": 10.0,
        "target_point": [
            17.299331282339,
            0.5332911187086994
        ],
        "target_point_next": [
            68.29232431204429,
            1.3772915327844693
        ]
    },
    "145": {
        "acceleration": [
            -2.129344940185547,
            -0.10394424200057983,
            -0.00530436635017395
        ],
        "angular_velocity": [
            -0.055721383541822433,
            -0.1630946844816208,
            1.2618703842163086
        ],
        "forward_vector": [
            -0.9997572302818298,
            0.019454985857009888,
            0.010340147651731968
        ],
        "right_vector": [
            -0.019446970894932747,
            -0.999810516834259,
            0.0008750678389333189
        ],
        "location": [
            695.7031860351562,
            4287.2978515625,
            369.7056884765625
        ],
        "rotation": [
            -0.050140380859375,
            0.5924574136734009,
            178.8851776123047
        ],
        "velocity": [
            -12.787032127380371,
            0.24488122761249542,
            0.07236754894256592
        ],
        "speed": 12.789376741745267,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 53.22195053100586,
        "front_vehicle_info": {
            "id": 37505,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 37628,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 625.9341430664062,
                        "y": 4297.16796875,
                        "z": 370.1072692871094
                    },
                    "rotation": {
                        "roll": 5.211085035705665e-11,
                        "pitch": -0.28500327467918396,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37627,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.027887344360352,
                "transform": {
                    "location": {
                        "x": 627.3004760742188,
                        "y": 4293.91064453125,
                        "z": 370.0919189453125
                    },
                    "rotation": {
                        "roll": -0.006072997581213713,
                        "pitch": -0.3042917549610138,
                        "yaw": -0.2962341010570526
                    }
                },
                "velocity": {
                    "x": 8.027076721191406,
                    "y": -0.003120633540675044,
                    "z": -0.1140076145529747
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 37624,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.917022705078125,
                "transform": {
                    "location": {
                        "x": 667.7930908203125,
                        "y": 4297.01806640625,
                        "z": 369.8664245605469
                    },
                    "rotation": {
                        "roll": -0.002990721957758069,
                        "pitch": -0.3351983428001404,
                        "yaw": -0.1242980808019638
                    }
                },
                "velocity": {
                    "x": 7.916813850402832,
                    "y": -0.03614656254649162,
                    "z": -0.0447087287902832
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 37622,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.011791229248047,
                "transform": {
                    "location": {
                        "x": 668.5471801757812,
                        "y": 4293.763671875,
                        "z": 369.8638916015625
                    },
                    "rotation": {
                        "roll": 0.0025453397538512945,
                        "pitch": -0.33435139060020447,
                        "yaw": -0.290252685546875
                    }
                },
                "velocity": {
                    "x": 8.01155948638916,
                    "y": -0.04195382446050644,
                    "z": -0.04416339471936226
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 37519,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051434516906738,
                "transform": {
                    "location": {
                        "x": 710.0859375,
                        "y": 4296.77197265625,
                        "z": 369.6228942871094
                    },
                    "rotation": {
                        "roll": 0.0004322506138123572,
                        "pitch": -0.33373668789863586,
                        "yaw": -0.3485107421875
                    }
                },
                "velocity": {
                    "x": 8.051146507263184,
                    "y": -0.04896059259772301,
                    "z": -0.0472443588078022
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37518,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.531678199768066,
                "transform": {
                    "location": {
                        "x": 709.3733520507812,
                        "y": 4293.525390625,
                        "z": 369.6328125
                    },
                    "rotation": {
                        "roll": -0.0026245114859193563,
                        "pitch": 0.08875830471515656,
                        "yaw": -0.30975341796875
                    }
                },
                "velocity": {
                    "x": 7.531413555145264,
                    "y": -0.04558110982179642,
                    "z": -0.04361991956830025
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.25184440612793,
                "transform": {
                    "location": {
                        "x": 733.9485473632812,
                        "y": 4286.658203125,
                        "z": 369.48358154296875
                    },
                    "rotation": {
                        "roll": -0.0026855466421693563,
                        "pitch": 0.34881091117858887,
                        "yaw": 179.35549926757812
                    }
                },
                "velocity": {
                    "x": -9.251140594482422,
                    "y": 0.10093196481466293,
                    "z": 0.05328880250453949
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 11.114147186279297,
                "transform": {
                    "location": {
                        "x": 716.1257934570312,
                        "y": 4286.783203125,
                        "z": 369.5950012207031
                    },
                    "rotation": {
                        "roll": 0.0026291825342923403,
                        "pitch": 0.5479450821876526,
                        "yaw": 179.60244750976562
                    }
                },
                "velocity": {
                    "x": -11.113728523254395,
                    "y": 0.07170218229293823,
                    "z": 0.06458556652069092
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 624.9783325195312,
                        "y": 4287.42236328125,
                        "z": 370.22991943359375
                    },
                    "rotation": {
                        "roll": -5.211083300982189e-11,
                        "pitch": 0.28036558628082275,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 602.6395263671875,
                        "y": 4287.55419921875,
                        "z": 370.3494567871094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.26897966861724854,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.885229110717773,
                "transform": {
                    "location": {
                        "x": 717.6011352539062,
                        "y": 4290.02294921875,
                        "z": 369.58819580078125
                    },
                    "rotation": {
                        "roll": 0.0009152385173365474,
                        "pitch": 0.28087785840034485,
                        "yaw": 179.62034606933594
                    }
                },
                "velocity": {
                    "x": -8.884889602661133,
                    "y": 0.058849237859249115,
                    "z": 0.05081719160079956
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.685994148254395,
                "transform": {
                    "location": {
                        "x": 699.1336669921875,
                        "y": 4290.134765625,
                        "z": 369.6949768066406
                    },
                    "rotation": {
                        "roll": 6.0616584960371256e-05,
                        "pitch": 0.320793479681015,
                        "yaw": 179.66384887695312
                    }
                },
                "velocity": {
                    "x": -8.685697555541992,
                    "y": 0.0509258434176445,
                    "z": 0.050558336079120636
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.981325149536133,
                "transform": {
                    "location": {
                        "x": 680.3229370117188,
                        "y": 4290.2451171875,
                        "z": 369.8321838378906
                    },
                    "rotation": {
                        "roll": -0.0003051756357308477,
                        "pitch": 0.317310094833374,
                        "yaw": 179.6610107421875
                    }
                },
                "velocity": {
                    "x": -7.981059551239014,
                    "y": 0.04720715060830116,
                    "z": 0.04488926753401756
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37625,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.197344779968262,
                "transform": {
                    "location": {
                        "x": 735.9638671875,
                        "y": 4289.9033203125,
                        "z": 369.4707336425781
                    },
                    "rotation": {
                        "roll": -0.011962890625,
                        "pitch": 0.9125815033912659,
                        "yaw": 179.5087890625
                    }
                },
                "velocity": {
                    "x": -9.196880340576172,
                    "y": 0.07525721192359924,
                    "z": 0.05361892655491829
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.18217985332012177,
        "expert_target_speed": 10.0,
        "target_point": [
            14.1593199043055,
            0.4850428668460223
        ],
        "target_point_next": [
            65.15462223002118,
            1.1755611760827702
        ]
    },
    "150": {
        "acceleration": [
            0.3752326965332031,
            -0.16075044870376587,
            -0.005060136318206787
        ],
        "angular_velocity": [
            -0.019029412418603897,
            -0.7173812389373779,
            -0.05391153320670128
        ],
        "forward_vector": [
            -0.9998202323913574,
            0.016576647758483887,
            0.00920640304684639
        ],
        "right_vector": [
            -0.016568252816796303,
            -0.9998623132705688,
            0.0009874580428004265
        ],
        "location": [
            692.4528198242188,
            4287.35595703125,
            369.7244567871094
        ],
        "rotation": [
            -0.0565795823931694,
            0.5274955034255981,
            179.05014038085938
        ],
        "velocity": [
            -13.074949264526367,
            0.2117534726858139,
            0.07374662160873413
        ],
        "speed": 13.076663863659304,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 49.9736213684082,
        "front_vehicle_info": {
            "id": 37505,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 37628,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.07470989227295,
                "transform": {
                    "location": {
                        "x": 627.9619140625,
                        "y": 4297.16259765625,
                        "z": 370.0599060058594
                    },
                    "rotation": {
                        "roll": -0.004913330078125,
                        "pitch": -0.2900712788105011,
                        "yaw": -0.080841064453125
                    }
                },
                "velocity": {
                    "x": 8.074666023254395,
                    "y": 0.01837068609893322,
                    "z": -0.019430212676525116
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37627,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.079477310180664,
                "transform": {
                    "location": {
                        "x": 629.3138427734375,
                        "y": 4293.9150390625,
                        "z": 370.0646667480469
                    },
                    "rotation": {
                        "roll": -0.010559082962572575,
                        "pitch": -0.29708588123321533,
                        "yaw": 0.14185088872909546
                    }
                },
                "velocity": {
                    "x": 8.078975677490234,
                    "y": 0.04307086020708084,
                    "z": -0.07902954518795013
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 37624,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.070942878723145,
                "transform": {
                    "location": {
                        "x": 669.7822265625,
                        "y": 4297.009765625,
                        "z": 369.85552978515625
                    },
                    "rotation": {
                        "roll": -0.002685546875,
                        "pitch": -0.29507097601890564,
                        "yaw": -0.0710449069738388
                    }
                },
                "velocity": {
                    "x": 8.070759773254395,
                    "y": -0.03200015798211098,
                    "z": -0.0440453477203846
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 37622,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.880393028259277,
                "transform": {
                    "location": {
                        "x": 670.5047607421875,
                        "y": 4293.75341796875,
                        "z": 369.8531188964844
                    },
                    "rotation": {
                        "roll": 0.00014709954848513007,
                        "pitch": -0.34417322278022766,
                        "yaw": -0.3096312880516052
                    }
                },
                "velocity": {
                    "x": 7.880155563354492,
                    "y": -0.04364940896630287,
                    "z": -0.04287146031856537
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 37519,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.085017204284668,
                "transform": {
                    "location": {
                        "x": 712.10302734375,
                        "y": 4296.759765625,
                        "z": 369.6111145019531
                    },
                    "rotation": {
                        "roll": 0.0009162495844066143,
                        "pitch": -0.3335249423980713,
                        "yaw": -0.3472289741039276
                    }
                },
                "velocity": {
                    "x": 8.08473014831543,
                    "y": -0.048129789531230927,
                    "z": -0.04814358055591583
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37518,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.654732704162598,
                "transform": {
                    "location": {
                        "x": 711.3508911132812,
                        "y": 4293.51318359375,
                        "z": 369.6221008300781
                    },
                    "rotation": {
                        "roll": -0.0007629393949173391,
                        "pitch": -0.008025472052395344,
                        "yaw": -0.3166808784008026
                    }
                },
                "velocity": {
                    "x": 8.654433250427246,
                    "y": -0.05185575783252716,
                    "z": -0.050027742981910706
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.024153709411621,
                "transform": {
                    "location": {
                        "x": 731.537353515625,
                        "y": 4286.68115234375,
                        "z": 369.4976501464844
                    },
                    "rotation": {
                        "roll": -0.003875732421875,
                        "pitch": 0.3505116403102875,
                        "yaw": 179.5034637451172
                    }
                },
                "velocity": {
                    "x": -10.023664474487305,
                    "y": 0.08062244951725006,
                    "z": 0.057635027915239334
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 12.004493713378906,
                "transform": {
                    "location": {
                        "x": 713.230224609375,
                        "y": 4286.80126953125,
                        "z": 369.61181640625
                    },
                    "rotation": {
                        "roll": -2.0845056236673543e-10,
                        "pitch": 0.5536209344863892,
                        "yaw": 179.6474151611328
                    }
                },
                "velocity": {
                    "x": -12.004068374633789,
                    "y": 0.07336483895778656,
                    "z": 0.06956084817647934
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.5460838079452515,
                "transform": {
                    "location": {
                        "x": 624.97802734375,
                        "y": 4287.42236328125,
                        "z": 370.1449279785156
                    },
                    "rotation": {
                        "roll": -0.0021972653921693563,
                        "pitch": 0.28350064158439636,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": -0.002544940449297428,
                    "y": 0.0002547162875998765,
                    "z": -0.5460778474807739
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 602.6395263671875,
                        "y": 4287.55419921875,
                        "z": 370.3494567871094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.26897966861724854,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.649035453796387,
                "transform": {
                    "location": {
                        "x": 715.4165649414062,
                        "y": 4290.03662109375,
                        "z": 369.6004638671875
                    },
                    "rotation": {
                        "roll": 0.0004569250450003892,
                        "pitch": 0.33592233061790466,
                        "yaw": 179.623779296875
                    }
                },
                "velocity": {
                    "x": -8.64871883392334,
                    "y": 0.05435337498784065,
                    "z": 0.05027381703257561
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.310265064239502,
                "transform": {
                    "location": {
                        "x": 697.0933227539062,
                        "y": 4290.14599609375,
                        "z": 369.7058410644531
                    },
                    "rotation": {
                        "roll": -0.0009460445144213736,
                        "pitch": 0.4307458698749542,
                        "yaw": 179.6505889892578
                    }
                },
                "velocity": {
                    "x": -7.310015678405762,
                    "y": 0.04296448454260826,
                    "z": 0.042399339377880096
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.03840446472168,
                "transform": {
                    "location": {
                        "x": 678.32373046875,
                        "y": 4290.2568359375,
                        "z": 369.84332275390625
                    },
                    "rotation": {
                        "roll": 4.950963921146467e-05,
                        "pitch": 0.32104620337486267,
                        "yaw": 179.66098022460938
                    }
                },
                "velocity": {
                    "x": -8.038140296936035,
                    "y": 0.047572553157806396,
                    "z": 0.04454977810382843
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37625,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.016963958740234,
                "transform": {
                    "location": {
                        "x": 733.638427734375,
                        "y": 4289.92236328125,
                        "z": 369.4855651855469
                    },
                    "rotation": {
                        "roll": -0.0115966796875,
                        "pitch": 0.5806070566177368,
                        "yaw": 179.54893493652344
                    }
                },
                "velocity": {
                    "x": -9.01656436920166,
                    "y": 0.06617644429206848,
                    "z": 0.05311071127653122
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.1919364631175995,
        "expert_target_speed": 10.0,
        "target_point": [
            10.909774924427886,
            0.4484905377891913
        ],
        "target_point_next": [
            61.90685398649747,
            0.992183432313955
        ]
    },
    "155": {
        "acceleration": [
            2.9016876220703125,
            -0.18988817930221558,
            -0.006405562162399292
        ],
        "angular_velocity": [
            0.024319417774677277,
            -1.0439834594726562,
            1.7691335678100586
        ],
        "forward_vector": [
            -0.9998998641967773,
            0.01340374257415533,
            0.004538043402135372
        ],
        "right_vector": [
            -0.013399332761764526,
            -0.9999097585678101,
            0.0010008052922785282
        ],
        "location": [
            689.2506103515625,
            4287.4033203125,
            369.7435607910156
        ],
        "rotation": [
            -0.0573425218462944,
            0.26001161336898804,
            179.23199462890625
        ],
        "velocity": [
            -12.503572463989258,
            0.16516658663749695,
            0.07135217636823654
        ],
        "speed": 12.504663304686451,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 46.77351379394531,
        "front_vehicle_info": {
            "id": 37505,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 37628,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.031647682189941,
                "transform": {
                    "location": {
                        "x": 629.9751586914062,
                        "y": 4297.16796875,
                        "z": 370.05950927734375
                    },
                    "rotation": {
                        "roll": -0.005371092818677425,
                        "pitch": -0.29220229387283325,
                        "yaw": 0.21967312693595886
                    }
                },
                "velocity": {
                    "x": 8.03153133392334,
                    "y": 0.03995734453201294,
                    "z": -0.016596060246229172
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37627,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.01194953918457,
                "transform": {
                    "location": {
                        "x": 631.3248901367188,
                        "y": 4293.9248046875,
                        "z": 370.04998779296875
                    },
                    "rotation": {
                        "roll": -0.006011961959302425,
                        "pitch": -0.2947704493999481,
                        "yaw": 0.32305046916007996
                    }
                },
                "velocity": {
                    "x": 8.011651039123535,
                    "y": 0.04967483878135681,
                    "z": -0.04818128049373627
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 37624,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.112197875976562,
                "transform": {
                    "location": {
                        "x": 671.8151245117188,
                        "y": 4297.0009765625,
                        "z": 369.8443603515625
                    },
                    "rotation": {
                        "roll": -0.0008239746675826609,
                        "pitch": -0.3127748370170593,
                        "yaw": -0.1112975999712944
                    }
                },
                "velocity": {
                    "x": 8.11198902130127,
                    "y": -0.036793701350688934,
                    "z": -0.04514988884329796
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 37622,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.213977813720703,
                "transform": {
                    "location": {
                        "x": 672.5346069335938,
                        "y": 4293.74169921875,
                        "z": 369.84197998046875
                    },
                    "rotation": {
                        "roll": 0.0006424691528081894,
                        "pitch": -0.2719644606113434,
                        "yaw": -0.3150940239429474
                    }
                },
                "velocity": {
                    "x": 8.213726043701172,
                    "y": -0.045171625912189484,
                    "z": -0.04588931426405907
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 37519,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051541328430176,
                "transform": {
                    "location": {
                        "x": 714.1199340820312,
                        "y": 4296.74853515625,
                        "z": 369.5993957519531
                    },
                    "rotation": {
                        "roll": -0.0008544922457076609,
                        "pitch": -0.33411234617233276,
                        "yaw": -0.345123291015625
                    }
                },
                "velocity": {
                    "x": 8.051251411437988,
                    "y": -0.04850737005472183,
                    "z": -0.04820122569799423
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37518,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.367997169494629,
                "transform": {
                    "location": {
                        "x": 713.5029296875,
                        "y": 4293.5009765625,
                        "z": 369.6120910644531
                    },
                    "rotation": {
                        "roll": -0.0013427732046693563,
                        "pitch": -0.3100290894508362,
                        "yaw": -0.3251342475414276
                    }
                },
                "velocity": {
                    "x": 8.367713928222656,
                    "y": -0.04886012524366379,
                    "z": -0.04838055372238159
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.865657806396484,
                "transform": {
                    "location": {
                        "x": 728.9229736328125,
                        "y": 4286.70166015625,
                        "z": 369.51287841796875
                    },
                    "rotation": {
                        "roll": -0.0017089840257540345,
                        "pitch": 0.353264182806015,
                        "yaw": 179.59060668945312
                    }
                },
                "velocity": {
                    "x": -10.865195274353027,
                    "y": 0.07931676506996155,
                    "z": 0.06126954033970833
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 12.648022651672363,
                "transform": {
                    "location": {
                        "x": 710.1298217773438,
                        "y": 4286.8212890625,
                        "z": 369.63031005859375
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": 0.5057003498077393,
                        "yaw": 179.64883422851562
                    }
                },
                "velocity": {
                    "x": -12.647581100463867,
                    "y": 0.07651644945144653,
                    "z": 0.07290302217006683
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.057715073227882385,
                "transform": {
                    "location": {
                        "x": 624.9779052734375,
                        "y": 4287.42236328125,
                        "z": 370.091796875
                    },
                    "rotation": {
                        "roll": -0.0023193357046693563,
                        "pitch": 0.2873118817806244,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": -0.00024497523554600775,
                    "y": -8.902576519176364e-05,
                    "z": -0.05771448463201523
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 602.6395263671875,
                        "y": 4287.55419921875,
                        "z": 370.3494567871094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.26897966861724854,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.958361625671387,
                "transform": {
                    "location": {
                        "x": 713.3333129882812,
                        "y": 4290.0498046875,
                        "z": 369.612060546875
                    },
                    "rotation": {
                        "roll": 0.00021465032477863133,
                        "pitch": 0.3929407596588135,
                        "yaw": 179.63597106933594
                    }
                },
                "velocity": {
                    "x": -7.958062648773193,
                    "y": 0.05044669657945633,
                    "z": 0.04702575504779816
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.799719333648682,
                "transform": {
                    "location": {
                        "x": 695.373291015625,
                        "y": 4290.15625,
                        "z": 369.71600341796875
                    },
                    "rotation": {
                        "roll": 0.00016539337229914963,
                        "pitch": 0.3947712481021881,
                        "yaw": 179.68585205078125
                    }
                },
                "velocity": {
                    "x": -6.799501895904541,
                    "y": 0.037642281502485275,
                    "z": 0.03928031027317047
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.024364471435547,
                "transform": {
                    "location": {
                        "x": 676.3134155273438,
                        "y": 4290.2685546875,
                        "z": 369.8544921875
                    },
                    "rotation": {
                        "roll": -0.0012512208195403218,
                        "pitch": 0.32006949186325073,
                        "yaw": 179.66110229492188
                    }
                },
                "velocity": {
                    "x": -8.024100303649902,
                    "y": 0.047505274415016174,
                    "z": 0.044577207416296005
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37625,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.75549840927124,
                "transform": {
                    "location": {
                        "x": 731.5223388671875,
                        "y": 4289.9375,
                        "z": 369.4997863769531
                    },
                    "rotation": {
                        "roll": -0.011077879928052425,
                        "pitch": 0.0730215460062027,
                        "yaw": 179.6013946533203
                    }
                },
                "velocity": {
                    "x": -7.755188465118408,
                    "y": 0.05201239138841629,
                    "z": 0.04587584361433983
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.20945923030376434,
        "expert_target_speed": 10.0,
        "target_point": [
            7.708586757062185,
            0.4183008649846194
        ],
        "target_point_next": [
            58.70713455274527,
            0.8001353290661305
        ]
    },
    "160": {
        "acceleration": [
            3.002033233642578,
            -0.17550691962242126,
            -0.012885332107543945
        ],
        "angular_velocity": [
            -0.04761650040745735,
            -0.39136019349098206,
            -0.68691486120224
        ],
        "forward_vector": [
            -0.9999418258666992,
            0.010675841942429543,
            0.0015306465793401003
        ],
        "right_vector": [
            -0.010674355551600456,
            -0.9999425411224365,
            0.0009768459713086486
        ],
        "location": [
            686.22412109375,
            4287.439453125,
            369.7613525390625
        ],
        "rotation": [
            -0.055969227105379105,
            0.08769962191581726,
            179.3883056640625
        ],
        "velocity": [
            -11.750714302062988,
            0.11972454935312271,
            0.06737876683473587
        ],
        "speed": 11.751324205230041,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 43.74909973144531,
        "front_vehicle_info": {
            "id": 37505,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 37628,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.059568405151367,
                "transform": {
                    "location": {
                        "x": 631.9866943359375,
                        "y": 4297.17822265625,
                        "z": 370.0515441894531
                    },
                    "rotation": {
                        "roll": -0.0036010739859193563,
                        "pitch": -0.2924481928348541,
                        "yaw": 0.3239316940307617
                    }
                },
                "velocity": {
                    "x": 8.059414863586426,
                    "y": 0.03108387440443039,
                    "z": -0.03875478729605675
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37627,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.863286018371582,
                "transform": {
                    "location": {
                        "x": 633.2754516601562,
                        "y": 4293.92919921875,
                        "z": 370.0396728515625
                    },
                    "rotation": {
                        "roll": 0.001846190309152007,
                        "pitch": -0.34994471073150635,
                        "yaw": 0.11368197202682495
                    }
                },
                "velocity": {
                    "x": 6.863193035125732,
                    "y": 0.0020432830788195133,
                    "z": -0.03566623106598854
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 37624,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.975668430328369,
                "transform": {
                    "location": {
                        "x": 673.8187866210938,
                        "y": 4296.99169921875,
                        "z": 369.8333435058594
                    },
                    "rotation": {
                        "roll": -0.00015258787607308477,
                        "pitch": -0.32641473412513733,
                        "yaw": -0.1000366136431694
                    }
                },
                "velocity": {
                    "x": 7.97545862197876,
                    "y": -0.03691476583480835,
                    "z": -0.04458737373352051
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 37622,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.953434944152832,
                "transform": {
                    "location": {
                        "x": 674.5536499023438,
                        "y": 4293.72998046875,
                        "z": 369.8309020996094
                    },
                    "rotation": {
                        "roll": -0.0001525879488326609,
                        "pitch": -0.34759512543678284,
                        "yaw": -0.3185424208641052
                    }
                },
                "velocity": {
                    "x": 7.95319128036499,
                    "y": -0.04410012438893318,
                    "z": -0.04395808279514313
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 37519,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084689140319824,
                "transform": {
                    "location": {
                        "x": 716.136962890625,
                        "y": 4296.736328125,
                        "z": 369.587646484375
                    },
                    "rotation": {
                        "roll": -0.0002136229886673391,
                        "pitch": -0.33493196964263916,
                        "yaw": -0.3474730849266052
                    }
                },
                "velocity": {
                    "x": 8.084394454956055,
                    "y": -0.049259405583143234,
                    "z": -0.048354797065258026
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37518,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.978325843811035,
                "transform": {
                    "location": {
                        "x": 715.5374145507812,
                        "y": 4293.4892578125,
                        "z": 369.6017761230469
                    },
                    "rotation": {
                        "roll": 0.0015600599581375718,
                        "pitch": -0.49185556173324585,
                        "yaw": -0.3371276259422302
                    }
                },
                "velocity": {
                    "x": 7.978043556213379,
                    "y": -0.04712238162755966,
                    "z": -0.047823332250118256
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.74915885925293,
                "transform": {
                    "location": {
                        "x": 726.092041015625,
                        "y": 4286.72119140625,
                        "z": 369.5292053222656
                    },
                    "rotation": {
                        "roll": -0.001220703125,
                        "pitch": 0.3547258675098419,
                        "yaw": 179.61610412597656
                    }
                },
                "velocity": {
                    "x": -11.748692512512207,
                    "y": 0.07875832170248032,
                    "z": 0.06895434856414795
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 12.157136917114258,
                "transform": {
                    "location": {
                        "x": 707.0167236328125,
                        "y": 4286.83935546875,
                        "z": 369.6501159667969
                    },
                    "rotation": {
                        "roll": -0.002075194614008069,
                        "pitch": 0.26726529002189636,
                        "yaw": 179.67298889160156
                    }
                },
                "velocity": {
                    "x": -12.156726837158203,
                    "y": 0.06976998597383499,
                    "z": 0.07134424149990082
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00345615460537374,
                "transform": {
                    "location": {
                        "x": 624.9779052734375,
                        "y": 4287.42236328125,
                        "z": 370.0869140625
                    },
                    "rotation": {
                        "roll": -0.0018310546875,
                        "pitch": 0.2879539430141449,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 2.668928209459409e-05,
                    "y": 9.563089406583458e-05,
                    "z": -0.003454728052020073
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 602.6395263671875,
                        "y": 4287.55419921875,
                        "z": 370.3494567871094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.26897966861724854,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.64008092880249,
                "transform": {
                    "location": {
                        "x": 711.7205810546875,
                        "y": 4290.0595703125,
                        "z": 369.62042236328125
                    },
                    "rotation": {
                        "roll": 0.0009077792637981474,
                        "pitch": 0.5218673944473267,
                        "yaw": 179.60910034179688
                    }
                },
                "velocity": {
                    "x": -5.6398844718933105,
                    "y": 0.03403928130865097,
                    "z": 0.032570980489254
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.400764465332031,
                "transform": {
                    "location": {
                        "x": 693.6099853515625,
                        "y": 4290.1669921875,
                        "z": 369.7270202636719
                    },
                    "rotation": {
                        "roll": -0.0010070801945403218,
                        "pitch": 0.2851262390613556,
                        "yaw": 179.64048767089844
                    }
                },
                "velocity": {
                    "x": -7.4005022048950195,
                    "y": 0.046249713748693466,
                    "z": 0.0416993610560894
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.029256820678711,
                "transform": {
                    "location": {
                        "x": 674.3077392578125,
                        "y": 4290.2802734375,
                        "z": 369.8655700683594
                    },
                    "rotation": {
                        "roll": 0.00027502767625264823,
                        "pitch": 0.31641533970832825,
                        "yaw": 179.657958984375
                    }
                },
                "velocity": {
                    "x": -8.0289888381958,
                    "y": 0.04799722507596016,
                    "z": 0.04477015510201454
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37625,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.4032883644104,
                "transform": {
                    "location": {
                        "x": 729.6646728515625,
                        "y": 4289.94921875,
                        "z": 369.5106201171875
                    },
                    "rotation": {
                        "roll": -0.00384521484375,
                        "pitch": 0.07152573764324188,
                        "yaw": 179.61630249023438
                    }
                },
                "velocity": {
                    "x": -7.402995586395264,
                    "y": 0.04943260923027992,
                    "z": 0.043490808457136154
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.22173583507537842,
        "expert_target_speed": 10.0,
        "target_point": [
            55.68239663761792,
            0.6437746791170846
        ],
        "target_point_next": [
            106.68179121102816,
            0.8869485370928045
        ]
    },
    "165": {
        "acceleration": [
            0.5101585388183594,
            -0.11088564991950989,
            0.015836358070373535
        ],
        "angular_velocity": [
            0.0946149006485939,
            0.47382989525794983,
            2.1196417808532715
        ],
        "forward_vector": [
            -0.9999690651893616,
            0.007819244638085365,
            0.0008429287117905915
        ],
        "right_vector": [
            -0.007818532176315784,
            -0.9999690651893616,
            0.0008447543368674815
        ],
        "location": [
            683.3794555664062,
            4287.46484375,
            369.7774963378906
        ],
        "rotation": [
            -0.0484008826315403,
            0.04829626530408859,
            179.55198669433594
        ],
        "velocity": [
            -11.13768196105957,
            0.08455782383680344,
            0.06397037208080292
        ],
        "speed": 11.1380029399926,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 40.906436920166016,
        "front_vehicle_info": {
            "id": 37505,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 37628,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.460775375366211,
                "transform": {
                    "location": {
                        "x": 633.9525756835938,
                        "y": 4297.18359375,
                        "z": 370.0416564941406
                    },
                    "rotation": {
                        "roll": -0.0010986328125,
                        "pitch": -0.30324673652648926,
                        "yaw": 0.1377464234828949
                    }
                },
                "velocity": {
                    "x": 7.460672855377197,
                    "y": 0.0051049706526100636,
                    "z": -0.038742054253816605
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37627,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.648917198181152,
                "transform": {
                    "location": {
                        "x": 634.7655029296875,
                        "y": 4293.93017578125,
                        "z": 370.0321350097656
                    },
                    "rotation": {
                        "roll": -0.00021362303232308477,
                        "pitch": -0.3727097511291504,
                        "yaw": 0.01575099118053913
                    }
                },
                "velocity": {
                    "x": 5.64884090423584,
                    "y": -0.0013219650136306882,
                    "z": -0.02937043085694313
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 37624,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.119583129882812,
                "transform": {
                    "location": {
                        "x": 675.833740234375,
                        "y": 4296.98193359375,
                        "z": 369.822265625
                    },
                    "rotation": {
                        "roll": 0.00163259485270828,
                        "pitch": -0.3094758689403534,
                        "yaw": -0.1432494968175888
                    }
                },
                "velocity": {
                    "x": 8.11935043334961,
                    "y": -0.042477093636989594,
                    "z": -0.044495683163404465
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 37622,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.04855728149414,
                "transform": {
                    "location": {
                        "x": 676.547119140625,
                        "y": 4293.71875,
                        "z": 369.8197937011719
                    },
                    "rotation": {
                        "roll": 9.79267933871597e-05,
                        "pitch": -0.31192106008529663,
                        "yaw": -0.3217163383960724
                    }
                },
                "velocity": {
                    "x": 8.04830551147461,
                    "y": -0.04516925662755966,
                    "z": -0.04495978355407715
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 37519,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.052088737487793,
                "transform": {
                    "location": {
                        "x": 718.15380859375,
                        "y": 4296.72509765625,
                        "z": 369.575927734375
                    },
                    "rotation": {
                        "roll": 0.0002780654758680612,
                        "pitch": -0.3327326476573944,
                        "yaw": -0.348846435546875
                    }
                },
                "velocity": {
                    "x": 8.051795959472656,
                    "y": -0.04898645728826523,
                    "z": -0.048079222440719604
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37518,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.97431755065918,
                "transform": {
                    "location": {
                        "x": 717.520751953125,
                        "y": 4293.4775390625,
                        "z": 369.58905029296875
                    },
                    "rotation": {
                        "roll": -3.051760359085165e-05,
                        "pitch": -0.3641378581523895,
                        "yaw": -0.3400267958641052
                    }
                },
                "velocity": {
                    "x": 7.974040985107422,
                    "y": -0.04725723713636398,
                    "z": -0.046677812933921814
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.537796974182129,
                "transform": {
                    "location": {
                        "x": 723.1339721679688,
                        "y": 4286.74072265625,
                        "z": 369.5465393066406
                    },
                    "rotation": {
                        "roll": -0.0008850097074173391,
                        "pitch": 0.3331356346607208,
                        "yaw": 179.62648010253906
                    }
                },
                "velocity": {
                    "x": -11.537351608276367,
                    "y": 0.07521005719900131,
                    "z": 0.06791257858276367
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 11.057924270629883,
                "transform": {
                    "location": {
                        "x": 704.1389770507812,
                        "y": 4286.85595703125,
                        "z": 369.6685791015625
                    },
                    "rotation": {
                        "roll": -0.00024414061044808477,
                        "pitch": 0.06753690540790558,
                        "yaw": 179.64988708496094
                    }
                },
                "velocity": {
                    "x": -11.057549476623535,
                    "y": 0.06434847414493561,
                    "z": 0.06440326571464539
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.15574099123477936,
                "transform": {
                    "location": {
                        "x": 624.9751586914062,
                        "y": 4287.42236328125,
                        "z": 370.08685302734375
                    },
                    "rotation": {
                        "roll": -0.0021667478140443563,
                        "pitch": 0.3028915524482727,
                        "yaw": 179.64646911621094
                    }
                },
                "velocity": {
                    "x": -0.15572339296340942,
                    "y": 0.00040397580596618354,
                    "z": 0.0023060226812958717
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 602.6395263671875,
                        "y": 4287.55419921875,
                        "z": 370.3494567871094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.26897966861724854,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.445183277130127,
                "transform": {
                    "location": {
                        "x": 710.361572265625,
                        "y": 4290.0673828125,
                        "z": 369.6295166015625
                    },
                    "rotation": {
                        "roll": -0.00039672842831350863,
                        "pitch": 0.37582430243492126,
                        "yaw": 179.632568359375
                    }
                },
                "velocity": {
                    "x": -5.444985389709473,
                    "y": 0.032672978937625885,
                    "z": 0.033007554709911346
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.793235778808594,
                "transform": {
                    "location": {
                        "x": 691.6539916992188,
                        "y": 4290.17919921875,
                        "z": 369.7388610839844
                    },
                    "rotation": {
                        "roll": 0.0002863470290321857,
                        "pitch": 0.19455109536647797,
                        "yaw": 179.7018585205078
                    }
                },
                "velocity": {
                    "x": -8.792937278747559,
                    "y": 0.05229290947318077,
                    "z": 0.05021458491683006
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.013279914855957,
                "transform": {
                    "location": {
                        "x": 672.3031005859375,
                        "y": 4290.2919921875,
                        "z": 369.8765869140625
                    },
                    "rotation": {
                        "roll": 0.0001183411804959178,
                        "pitch": 0.31852585077285767,
                        "yaw": 179.6521453857422
                    }
                },
                "velocity": {
                    "x": -8.013001441955566,
                    "y": 0.05003366991877556,
                    "z": 0.044359683990478516
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37625,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.2657470703125,
                "transform": {
                    "location": {
                        "x": 727.7099609375,
                        "y": 4289.9619140625,
                        "z": 369.5205078125
                    },
                    "rotation": {
                        "roll": -0.004272460471838713,
                        "pitch": 0.47497814893722534,
                        "yaw": 179.62713623046875
                    }
                },
                "velocity": {
                    "x": -8.265445709228516,
                    "y": 0.05246208235621452,
                    "z": 0.04711909964680672
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.22884394228458405,
        "expert_target_speed": 10.0,
        "target_point": [
            52.83923118709667,
            0.4878763388332157
        ],
        "target_point_next": [
            103.83911229476811,
            0.585382148736759
        ]
    },
    "170": {
        "acceleration": [
            6.758441925048828,
            -0.14374643564224243,
            -0.04810258746147156
        ],
        "angular_velocity": [
            -0.06716599315404892,
            -1.2364577054977417,
            -0.6349334716796875
        ],
        "forward_vector": [
            -0.99997878074646,
            0.00553473923355341,
            -0.003433339763432741
        ],
        "right_vector": [
            -0.005537224467843771,
            -0.9999844431877136,
            0.0007147880387492478
        ],
        "location": [
            680.7689208984375,
            4287.48193359375,
            369.79315185546875
        ],
        "rotation": [
            -0.0409545823931694,
            -0.19671626389026642,
            179.68287658691406
        ],
        "velocity": [
            -9.537432670593262,
            0.048778634518384933,
            0.05315408483147621
        ],
        "speed": 9.537557407496177,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 38.29780197143555,
        "front_vehicle_info": {
            "id": 37505,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 37628,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.848754405975342,
                "transform": {
                    "location": {
                        "x": 635.8348999023438,
                        "y": 4297.18408203125,
                        "z": 370.0318908691406
                    },
                    "rotation": {
                        "roll": -0.001190185546875,
                        "pitch": -0.287653386592865,
                        "yaw": -0.0019531246507540345
                    }
                },
                "velocity": {
                    "x": 7.848657608032227,
                    "y": -0.005923890508711338,
                    "z": -0.038593024015426636
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37627,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.910066604614258,
                "transform": {
                    "location": {
                        "x": 636.2057495117188,
                        "y": 4293.93017578125,
                        "z": 370.0242004394531
                    },
                    "rotation": {
                        "roll": -0.00128173828125,
                        "pitch": -0.2915056347846985,
                        "yaw": -0.00012207030522404239
                    }
                },
                "velocity": {
                    "x": 5.909996032714844,
                    "y": -0.0020980127155780792,
                    "z": -0.02877628244459629
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 37624,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.006553649902344,
                "transform": {
                    "location": {
                        "x": 677.8494873046875,
                        "y": 4296.9716796875,
                        "z": 369.81103515625
                    },
                    "rotation": {
                        "roll": -0.00030517578125,
                        "pitch": -0.3246456980705261,
                        "yaw": -0.13604736328125
                    }
                },
                "velocity": {
                    "x": 8.006322860717773,
                    "y": -0.04135777801275253,
                    "z": -0.04458119347691536
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 37622,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.079639434814453,
                "transform": {
                    "location": {
                        "x": 678.5704345703125,
                        "y": 4293.70654296875,
                        "z": 369.8086242675781
                    },
                    "rotation": {
                        "roll": -0.0005187987117096782,
                        "pitch": -0.3150083124637604,
                        "yaw": -0.3218688666820526
                    }
                },
                "velocity": {
                    "x": 8.079380989074707,
                    "y": -0.04540969803929329,
                    "z": -0.04593803361058235
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 37519,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084585189819336,
                "transform": {
                    "location": {
                        "x": 720.1708374023438,
                        "y": 4296.712890625,
                        "z": 369.5641784667969
                    },
                    "rotation": {
                        "roll": 0.00024169276002794504,
                        "pitch": -0.33278727531433105,
                        "yaw": -0.349151611328125
                    }
                },
                "velocity": {
                    "x": 8.084291458129883,
                    "y": -0.049239907413721085,
                    "z": -0.04820322245359421
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37518,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.183377265930176,
                "transform": {
                    "location": {
                        "x": 719.54833984375,
                        "y": 4293.46630859375,
                        "z": 369.5765686035156
                    },
                    "rotation": {
                        "roll": -5.211078790701151e-11,
                        "pitch": -0.2705984115600586,
                        "yaw": -0.34429931640625
                    }
                },
                "velocity": {
                    "x": 8.183084487915039,
                    "y": -0.050141699612140656,
                    "z": -0.047656431794166565
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.578717231750488,
                "transform": {
                    "location": {
                        "x": 720.3817749023438,
                        "y": 4286.7587890625,
                        "z": 369.5627746582031
                    },
                    "rotation": {
                        "roll": -0.0008544920710846782,
                        "pitch": 0.3134578466415405,
                        "yaw": 179.62850952148438
                    }
                },
                "velocity": {
                    "x": -10.578313827514648,
                    "y": 0.0681072473526001,
                    "z": 0.06228818744421005
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.316950798034668,
                "transform": {
                    "location": {
                        "x": 701.463134765625,
                        "y": 4286.8720703125,
                        "z": 369.6833801269531
                    },
                    "rotation": {
                        "roll": 0.0014461483806371689,
                        "pitch": 0.15641815960407257,
                        "yaw": 179.67758178710938
                    }
                },
                "velocity": {
                    "x": -10.316601753234863,
                    "y": 0.060231275856494904,
                    "z": 0.05977457016706467
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.4225554466247559,
                "transform": {
                    "location": {
                        "x": 624.7391967773438,
                        "y": 4287.421875,
                        "z": 370.0870361328125
                    },
                    "rotation": {
                        "roll": -0.01037597469985485,
                        "pitch": 0.6290057301521301,
                        "yaw": 179.73318481445312
                    }
                },
                "velocity": {
                    "x": -1.4225295782089233,
                    "y": -0.005523959640413523,
                    "z": 0.00656172726303339
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 602.6395263671875,
                        "y": 4287.55419921875,
                        "z": 370.3494567871094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.26897966861724854,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.966464996337891,
                "transform": {
                    "location": {
                        "x": 708.9165649414062,
                        "y": 4290.07568359375,
                        "z": 369.6385192871094
                    },
                    "rotation": {
                        "roll": 0.0012155745644122362,
                        "pitch": 0.30530261993408203,
                        "yaw": 179.60801696777344
                    }
                },
                "velocity": {
                    "x": -5.966263294219971,
                    "y": 0.034785378724336624,
                    "z": 0.03460032492876053
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.512681007385254,
                "transform": {
                    "location": {
                        "x": 689.3023071289062,
                        "y": 4290.1923828125,
                        "z": 369.751953125
                    },
                    "rotation": {
                        "roll": 0.0008482749108225107,
                        "pitch": 0.2258470207452774,
                        "yaw": 179.671142578125
                    }
                },
                "velocity": {
                    "x": -9.51237964630127,
                    "y": 0.05462764948606491,
                    "z": 0.05237402766942978
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.045708656311035,
                "transform": {
                    "location": {
                        "x": 670.294921875,
                        "y": 4290.3037109375,
                        "z": 369.88763427734375
                    },
                    "rotation": {
                        "roll": -0.0008850097074173391,
                        "pitch": 0.3154385983943939,
                        "yaw": 179.64991760253906
                    }
                },
                "velocity": {
                    "x": -8.045431137084961,
                    "y": 0.04916143789887428,
                    "z": 0.045205533504486084
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37625,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.717252254486084,
                "transform": {
                    "location": {
                        "x": 725.6828002929688,
                        "y": 4289.97509765625,
                        "z": 369.5329284667969
                    },
                    "rotation": {
                        "roll": -0.002288818359375,
                        "pitch": 0.29768693447113037,
                        "yaw": 179.63462829589844
                    }
                },
                "velocity": {
                    "x": -7.71696138381958,
                    "y": 0.04921175539493561,
                    "z": 0.04543003812432289
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.26913172006607056,
        "expert_target_speed": 10.0,
        "target_point": [
            50.22961859668658,
            0.36980382372867426
        ],
        "target_point_next": [
            101.22958937306895,
            0.35079888407405274
        ]
    },
    "175": {
        "acceleration": [
            4.019050598144531,
            -0.07425468415021896,
            -0.009059309959411621
        ],
        "angular_velocity": [
            0.13115112483501434,
            0.36340492963790894,
            2.8975610733032227
        ],
        "forward_vector": [
            -0.9999861121177673,
            0.003306029364466667,
            -0.004106629174202681
        ],
        "right_vector": [
            -0.003308418672531843,
            -0.9999943375587463,
            0.0005752378492616117
        ],
        "location": [
            678.5527954101562,
            4287.4912109375,
            369.8055419921875
        ],
        "rotation": [
            -0.0329589806497097,
            -0.2352931797504425,
            179.81057739257812
        ],
        "velocity": [
            -8.330739974975586,
            0.0239120963960886,
            0.047557782381772995
        ],
        "speed": 8.330774292886003,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 36.083335876464844,
        "front_vehicle_info": {
            "id": 37505,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 37628,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.329476356506348,
                "transform": {
                    "location": {
                        "x": 637.8953857421875,
                        "y": 4297.18115234375,
                        "z": 370.0213317871094
                    },
                    "rotation": {
                        "roll": 0.0012554856948554516,
                        "pitch": -0.28391045331954956,
                        "yaw": -0.1213989108800888
                    }
                },
                "velocity": {
                    "x": 8.329326629638672,
                    "y": -0.024687087163329124,
                    "z": -0.04336172342300415
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37627,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.02712345123291,
                "transform": {
                    "location": {
                        "x": 637.9252319335938,
                        "y": 4293.92724609375,
                        "z": 370.01458740234375
                    },
                    "rotation": {
                        "roll": 0.0018182122148573399,
                        "pitch": -0.1859109103679657,
                        "yaw": -0.0975647047162056
                    }
                },
                "velocity": {
                    "x": 8.026972770690918,
                    "y": -0.02655133232474327,
                    "z": -0.04140864685177803
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 37624,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.085847854614258,
                "transform": {
                    "location": {
                        "x": 679.8598022460938,
                        "y": 4296.9609375,
                        "z": 369.7998352050781
                    },
                    "rotation": {
                        "roll": -0.0006103514460846782,
                        "pitch": -0.320520281791687,
                        "yaw": -0.166412353515625
                    }
                },
                "velocity": {
                    "x": 8.085592269897461,
                    "y": -0.04528297856450081,
                    "z": -0.045513927936553955
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 37622,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.00389289855957,
                "transform": {
                    "location": {
                        "x": 680.5770263671875,
                        "y": 4293.69482421875,
                        "z": 369.79742431640625
                    },
                    "rotation": {
                        "roll": -3.0517498089466244e-05,
                        "pitch": -0.3320291340351105,
                        "yaw": -0.3270263373851776
                    }
                },
                "velocity": {
                    "x": 8.003632545471191,
                    "y": -0.046624086797237396,
                    "z": -0.044525474309921265
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 37519,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051846504211426,
                "transform": {
                    "location": {
                        "x": 722.1876220703125,
                        "y": 4296.70166015625,
                        "z": 369.5524597167969
                    },
                    "rotation": {
                        "roll": -0.0001525878324173391,
                        "pitch": -0.33291706442832947,
                        "yaw": -0.34912109375
                    }
                },
                "velocity": {
                    "x": 8.051559448242188,
                    "y": -0.04907727614045143,
                    "z": -0.04711717367172241
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37518,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.065855026245117,
                "transform": {
                    "location": {
                        "x": 721.5807495117188,
                        "y": 4293.4541015625,
                        "z": 369.5654296875
                    },
                    "rotation": {
                        "roll": 0.00010366862261435017,
                        "pitch": -0.3401775658130646,
                        "yaw": -0.3472900390625
                    }
                },
                "velocity": {
                    "x": 8.065561294555664,
                    "y": -0.04881010949611664,
                    "z": -0.048534002155065536
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.513861656188965,
                "transform": {
                    "location": {
                        "x": 717.8659057617188,
                        "y": 4286.77490234375,
                        "z": 369.5774230957031
                    },
                    "rotation": {
                        "roll": -0.00030517569393850863,
                        "pitch": 0.3104389011859894,
                        "yaw": 179.6491241455078
                    }
                },
                "velocity": {
                    "x": -9.513516426086426,
                    "y": 0.05884123221039772,
                    "z": 0.0556226447224617
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.024760246276855,
                "transform": {
                    "location": {
                        "x": 699.0505981445312,
                        "y": 4286.88623046875,
                        "z": 369.6979064941406
                    },
                    "rotation": {
                        "roll": 0.0007806816138327122,
                        "pitch": 0.07920970022678375,
                        "yaw": 179.65406799316406
                    }
                },
                "velocity": {
                    "x": -9.024458885192871,
                    "y": 0.05248308926820755,
                    "z": 0.051858920603990555
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.2984585762023926,
                "transform": {
                    "location": {
                        "x": 624.2766723632812,
                        "y": 4287.42041015625,
                        "z": 370.0890808105469
                    },
                    "rotation": {
                        "roll": -0.01235961727797985,
                        "pitch": 0.6695156097412109,
                        "yaw": 179.8723602294922
                    }
                },
                "velocity": {
                    "x": -2.2984111309051514,
                    "y": -0.010049644857645035,
                    "z": 0.010828628204762936
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 602.6395263671875,
                        "y": 4287.55419921875,
                        "z": 370.3494567871094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.26897966861724854,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.783501625061035,
                "transform": {
                    "location": {
                        "x": 707.1326904296875,
                        "y": 4290.08642578125,
                        "z": 369.64984130859375
                    },
                    "rotation": {
                        "roll": 0.0007012210553511977,
                        "pitch": 0.1842375099658966,
                        "yaw": 179.62460327148438
                    }
                },
                "velocity": {
                    "x": -7.783228397369385,
                    "y": 0.04731815680861473,
                    "z": 0.04491714388132095
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.321081161499023,
                "transform": {
                    "location": {
                        "x": 687.0673217773438,
                        "y": 4290.20556640625,
                        "z": 369.7630920410156
                    },
                    "rotation": {
                        "roll": 0.0013802516041323543,
                        "pitch": 0.40642356872558594,
                        "yaw": 179.69244384765625
                    }
                },
                "velocity": {
                    "x": -8.320808410644531,
                    "y": 0.04749520495533943,
                    "z": 0.047753334045410156
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.00252914428711,
                "transform": {
                    "location": {
                        "x": 668.2898559570312,
                        "y": 4290.3154296875,
                        "z": 369.8985900878906
                    },
                    "rotation": {
                        "roll": -0.000518798828125,
                        "pitch": 0.31399062275886536,
                        "yaw": 179.65016174316406
                    }
                },
                "velocity": {
                    "x": -8.0022554397583,
                    "y": 0.04894236847758293,
                    "z": 0.044465500861406326
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37625,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.458791732788086,
                "transform": {
                    "location": {
                        "x": 723.9014892578125,
                        "y": 4289.98681640625,
                        "z": 369.5444030761719
                    },
                    "rotation": {
                        "roll": -0.0018920896109193563,
                        "pitch": 0.0037429435178637505,
                        "yaw": 179.6383514404297
                    }
                },
                "velocity": {
                    "x": -6.458561897277832,
                    "y": 0.0395110584795475,
                    "z": 0.037500638514757156
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.29330283403396606,
        "expert_target_speed": 10.0,
        "target_point": [
            48.01417411514691,
            0.25978251664412944
        ],
        "target_point_next": [
            99.0139758060758,
            0.1270878840736813
        ]
    },
    "180": {
        "acceleration": [
            0.7450962066650391,
            -0.05365252494812012,
            -0.015377551317214966
        ],
        "angular_velocity": [
            -0.08194245398044586,
            1.0391311645507812,
            -2.42177677154541
        ],
        "forward_vector": [
            -0.9999973773956299,
            0.0021294651087373495,
            -0.0008368490380235016
        ],
        "right_vector": [
            -0.0021298325154930353,
            -0.999997615814209,
            0.0004383561899885535
        ],
        "location": [
            676.5536499023438,
            4287.49560546875,
            369.81591796875
        ],
        "rotation": [
            -0.02511596865952015,
            -0.047947924584150314,
            179.87799072265625
        ],
        "velocity": [
            -7.81215238571167,
            0.008808223530650139,
            0.04432477056980133
        ],
        "speed": 7.8121573513583495,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 34.085723876953125,
        "front_vehicle_info": {
            "id": 37505,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 37644,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 598.5980834960938,
                        "y": 4297.3291015625,
                        "z": 370.49334716796875
                    },
                    "rotation": {
                        "roll": -5.211078443756456e-11,
                        "pitch": -0.26897966861724854,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37643,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 598.5789184570312,
                        "y": 4294.0791015625,
                        "z": 370.49334716796875
                    },
                    "rotation": {
                        "roll": -5.211078443756456e-11,
                        "pitch": -0.26897966861724854,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37628,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.933804035186768,
                "transform": {
                    "location": {
                        "x": 639.9234619140625,
                        "y": 4297.1748046875,
                        "z": 370.0108947753906
                    },
                    "rotation": {
                        "roll": -3.0517530831275508e-05,
                        "pitch": -0.30795273184776306,
                        "yaw": -0.2066345065832138
                    }
                },
                "velocity": {
                    "x": 7.933638572692871,
                    "y": -0.030991684645414352,
                    "z": -0.040842559188604355
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37627,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.269391059875488,
                "transform": {
                    "location": {
                        "x": 640.0147094726562,
                        "y": 4293.919921875,
                        "z": 370.0042419433594
                    },
                    "rotation": {
                        "roll": -0.00103759765625,
                        "pitch": -0.2563779652118683,
                        "yaw": -0.1811523288488388
                    }
                },
                "velocity": {
                    "x": 8.269227027893066,
                    "y": -0.028301147744059563,
                    "z": -0.043803319334983826
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 37624,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.026665687561035,
                "transform": {
                    "location": {
                        "x": 681.8748168945312,
                        "y": 4296.94873046875,
                        "z": 369.7885437011719
                    },
                    "rotation": {
                        "roll": -0.001007080078125,
                        "pitch": -0.32217317819595337,
                        "yaw": -0.173858642578125
                    }
                },
                "velocity": {
                    "x": 8.026410102844238,
                    "y": -0.04481260105967522,
                    "z": -0.04586851969361305
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 37622,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.065474510192871,
                "transform": {
                    "location": {
                        "x": 682.5860595703125,
                        "y": 4293.68310546875,
                        "z": 369.7861633300781
                    },
                    "rotation": {
                        "roll": -0.0006103514460846782,
                        "pitch": -0.31512442231178284,
                        "yaw": -0.3323974013328552
                    }
                },
                "velocity": {
                    "x": 8.065211296081543,
                    "y": -0.0469483844935894,
                    "z": -0.04510834440588951
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 37519,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.085099220275879,
                "transform": {
                    "location": {
                        "x": 724.204833984375,
                        "y": 4296.68994140625,
                        "z": 369.5407409667969
                    },
                    "rotation": {
                        "roll": 0.000459342758404091,
                        "pitch": -0.33257555961608887,
                        "yaw": -0.3510741591453552
                    }
                },
                "velocity": {
                    "x": 8.08481216430664,
                    "y": -0.049659814685583115,
                    "z": -0.04672824218869209
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37518,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.054001808166504,
                "transform": {
                    "location": {
                        "x": 723.5921630859375,
                        "y": 4293.4423828125,
                        "z": 369.55377197265625
                    },
                    "rotation": {
                        "roll": -0.00030517569393850863,
                        "pitch": -0.36038124561309814,
                        "yaw": -0.3509826362133026
                    }
                },
                "velocity": {
                    "x": 8.053703308105469,
                    "y": -0.049321454018354416,
                    "z": -0.04872497543692589
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.5178804397583,
                "transform": {
                    "location": {
                        "x": 715.6371459960938,
                        "y": 4286.78857421875,
                        "z": 369.5904541015625
                    },
                    "rotation": {
                        "roll": 0.00012615900777745992,
                        "pitch": 0.3106301426887512,
                        "yaw": 179.6491241455078
                    }
                },
                "velocity": {
                    "x": -8.517576217651367,
                    "y": 0.05164628475904465,
                    "z": 0.05007842928171158
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.551532745361328,
                "transform": {
                    "location": {
                        "x": 696.8864135742188,
                        "y": 4286.8984375,
                        "z": 369.7096252441406
                    },
                    "rotation": {
                        "roll": -0.0013732907827943563,
                        "pitch": 0.1638084203004837,
                        "yaw": 179.68496704101562
                    }
                },
                "velocity": {
                    "x": -8.55125617980957,
                    "y": 0.048085227608680725,
                    "z": 0.04916581138968468
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.3441994190216064,
                "transform": {
                    "location": {
                        "x": 623.6531982421875,
                        "y": 4287.41845703125,
                        "z": 370.0927734375
                    },
                    "rotation": {
                        "roll": -0.007049558684229851,
                        "pitch": 0.49292105436325073,
                        "yaw": -179.99839782714844
                    }
                },
                "velocity": {
                    "x": -2.3441362380981445,
                    "y": -0.011224319227039814,
                    "z": 0.01304608304053545
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 602.6395263671875,
                        "y": 4287.55419921875,
                        "z": 370.3494567871094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.26897966861724854,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.81235408782959,
                "transform": {
                    "location": {
                        "x": 705.0471801757812,
                        "y": 4290.10009765625,
                        "z": 369.66162109375
                    },
                    "rotation": {
                        "roll": 0.0008394173346459866,
                        "pitch": 0.2231900840997696,
                        "yaw": 179.63999938964844
                    }
                },
                "velocity": {
                    "x": -8.81204605102539,
                    "y": 0.05345984920859337,
                    "z": 0.05079183354973793
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.932748794555664,
                "transform": {
                    "location": {
                        "x": 685.1239624023438,
                        "y": 4290.21875,
                        "z": 369.7736511230469
                    },
                    "rotation": {
                        "roll": 0.0016964097740128636,
                        "pitch": 0.46188467741012573,
                        "yaw": 179.9645538330078
                    }
                },
                "velocity": {
                    "x": -6.932546138763428,
                    "y": 0.03528474643826485,
                    "z": 0.0396161749958992
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.047460556030273,
                "transform": {
                    "location": {
                        "x": 666.2832641601562,
                        "y": 4290.3271484375,
                        "z": 369.9095764160156
                    },
                    "rotation": {
                        "roll": 0.0012815537629649043,
                        "pitch": 0.3156503438949585,
                        "yaw": 179.64808654785156
                    }
                },
                "velocity": {
                    "x": -8.047179222106934,
                    "y": 0.05084637925028801,
                    "z": 0.0440252311527729
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37625,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.714706897735596,
                "transform": {
                    "location": {
                        "x": 722.41943359375,
                        "y": 4289.99609375,
                        "z": 369.55316162109375
                    },
                    "rotation": {
                        "roll": -0.0019531244179233909,
                        "pitch": -0.048125509172677994,
                        "yaw": 179.64242553710938
                    }
                },
                "velocity": {
                    "x": -5.714505672454834,
                    "y": 0.034515343606472015,
                    "z": 0.03332272544503212
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2996065616607666,
        "expert_target_speed": 10.0,
        "target_point": [
            46.01529606064952,
            0.20346068078191631
        ],
        "target_point_next": [
            97.01490646001649,
            0.010796484918685317
        ]
    },
    "185": {
        "acceleration": [
            -0.8831787109375,
            0.1312401294708252,
            0.007253438234329224
        ],
        "angular_velocity": [
            0.2056250423192978,
            0.8970234990119934,
            2.579350471496582
        ],
        "forward_vector": [
            -0.9999935030937195,
            0.0004631569318007678,
            0.003565303748473525
        ],
        "right_vector": [
            -0.0004626433365046978,
            -0.9999998807907104,
            0.00014487501175608486
        ],
        "location": [
            674.5938110351562,
            4287.4970703125,
            369.825927734375
        ],
        "rotation": [
            -0.00830077938735485,
            0.20427729189395905,
            179.9734649658203
        ],
        "velocity": [
            -7.90207576751709,
            0.008452028967440128,
            0.04501599073410034
        ],
        "speed": 7.902080287644164,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 32.127464294433594,
        "front_vehicle_info": {
            "id": 37505,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 37644,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 600.6690063476562,
                        "y": 4297.31689453125,
                        "z": 370.2671813964844
                    },
                    "rotation": {
                        "roll": -5.211078443756456e-11,
                        "pitch": -0.26897966861724854,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37643,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 600.6498413085938,
                        "y": 4294.06689453125,
                        "z": 370.2671813964844
                    },
                    "rotation": {
                        "roll": -5.211078443756456e-11,
                        "pitch": -0.26897966861724854,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37628,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.074389457702637,
                "transform": {
                    "location": {
                        "x": 641.9122924804688,
                        "y": 4297.1669921875,
                        "z": 370.0003967285156
                    },
                    "rotation": {
                        "roll": 0.0015953164547681808,
                        "pitch": -0.2981240749359131,
                        "yaw": -0.2403869479894638
                    }
                },
                "velocity": {
                    "x": 8.074201583862305,
                    "y": -0.0359782837331295,
                    "z": -0.04170798510313034
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37627,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.877498149871826,
                "transform": {
                    "location": {
                        "x": 642.0198974609375,
                        "y": 4293.9130859375,
                        "z": 369.994140625
                    },
                    "rotation": {
                        "roll": -0.0013122556265443563,
                        "pitch": -0.3132324516773224,
                        "yaw": -0.21554560959339142
                    }
                },
                "velocity": {
                    "x": 7.8773112297058105,
                    "y": -0.03499400243163109,
                    "z": -0.04145169258117676
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 37624,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.07999038696289,
                "transform": {
                    "location": {
                        "x": 683.8876953125,
                        "y": 4296.9375,
                        "z": 369.7772521972656
                    },
                    "rotation": {
                        "roll": -0.0012817380484193563,
                        "pitch": -0.32358020544052124,
                        "yaw": -0.1749267429113388
                    }
                },
                "velocity": {
                    "x": 8.079734802246094,
                    "y": -0.045828357338905334,
                    "z": -0.045066867023706436
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 37622,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.039063453674316,
                "transform": {
                    "location": {
                        "x": 684.6004638671875,
                        "y": 4293.671875,
                        "z": 369.7748718261719
                    },
                    "rotation": {
                        "roll": -0.0004272459482308477,
                        "pitch": -0.3275758624076843,
                        "yaw": -0.3326415717601776
                    }
                },
                "velocity": {
                    "x": 8.038806915283203,
                    "y": -0.0466480478644371,
                    "z": -0.04416569694876671
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 37519,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051162719726562,
                "transform": {
                    "location": {
                        "x": 726.2216796875,
                        "y": 4296.67822265625,
                        "z": 369.5289611816406
                    },
                    "rotation": {
                        "roll": 0.00123797042760998,
                        "pitch": -0.3321520686149597,
                        "yaw": -0.352783203125
                    }
                },
                "velocity": {
                    "x": 8.050872802734375,
                    "y": -0.05031708627939224,
                    "z": -0.04624859243631363
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37518,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.076982498168945,
                "transform": {
                    "location": {
                        "x": 725.6089477539062,
                        "y": 4293.4306640625,
                        "z": 369.5417175292969
                    },
                    "rotation": {
                        "roll": -0.00012207032705191523,
                        "pitch": -0.3253765404224396,
                        "yaw": -0.354095458984375
                    }
                },
                "velocity": {
                    "x": 8.07668399810791,
                    "y": -0.0498867891728878,
                    "z": -0.04835192486643791
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.277935981750488,
                "transform": {
                    "location": {
                        "x": 713.5538940429688,
                        "y": 4286.80029296875,
                        "z": 369.6024169921875
                    },
                    "rotation": {
                        "roll": 0.00031894780113361776,
                        "pitch": 0.3245773911476135,
                        "yaw": 179.6631622314453
                    }
                },
                "velocity": {
                    "x": -8.277647972106934,
                    "y": 0.049091048538684845,
                    "z": 0.04862053692340851
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.216343879699707,
                "transform": {
                    "location": {
                        "x": 694.67138671875,
                        "y": 4286.91064453125,
                        "z": 369.7198486328125
                    },
                    "rotation": {
                        "roll": -0.00067138671875,
                        "pitch": 0.46941837668418884,
                        "yaw": 179.65994262695312
                    }
                },
                "velocity": {
                    "x": -9.216047286987305,
                    "y": 0.05289355665445328,
                    "z": 0.051580760627985
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.582451343536377,
                "transform": {
                    "location": {
                        "x": 623.0648193359375,
                        "y": 4287.416015625,
                        "z": 370.0961608886719
                    },
                    "rotation": {
                        "roll": -0.0025024411734193563,
                        "pitch": 0.3788910508155823,
                        "yaw": -179.90760803222656
                    }
                },
                "velocity": {
                    "x": -2.582381010055542,
                    "y": -0.013350815512239933,
                    "z": 0.01358812302350998
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 602.6395263671875,
                        "y": 4287.55419921875,
                        "z": 370.3494567871094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.26897966861724854,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.183436393737793,
                "transform": {
                    "location": {
                        "x": 702.7620239257812,
                        "y": 4290.11376953125,
                        "z": 369.6744079589844
                    },
                    "rotation": {
                        "roll": -0.0007629392785020173,
                        "pitch": 0.275570809841156,
                        "yaw": 179.65757751464844
                    }
                },
                "velocity": {
                    "x": -9.183122634887695,
                    "y": 0.05495263636112213,
                    "z": 0.05234304443001747
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.745365619659424,
                "transform": {
                    "location": {
                        "x": 683.4431762695312,
                        "y": 4290.22802734375,
                        "z": 369.783935546875
                    },
                    "rotation": {
                        "roll": 0.0009241163497790694,
                        "pitch": 0.3660912811756134,
                        "yaw": 179.8629913330078
                    }
                },
                "velocity": {
                    "x": -6.745152473449707,
                    "y": 0.038196347653865814,
                    "z": 0.03768368810415268
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.006728172302246,
                "transform": {
                    "location": {
                        "x": 664.2765502929688,
                        "y": 4290.3388671875,
                        "z": 369.92047119140625
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": 0.31266555190086365,
                        "yaw": 179.64578247070312
                    }
                },
                "velocity": {
                    "x": -8.006454467773438,
                    "y": 0.04950037971138954,
                    "z": 0.04391161724925041
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37625,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.229661464691162,
                "transform": {
                    "location": {
                        "x": 720.958251953125,
                        "y": 4290.005859375,
                        "z": 369.56048583984375
                    },
                    "rotation": {
                        "roll": -0.0006408690824173391,
                        "pitch": 0.26512059569358826,
                        "yaw": 179.6453094482422
                    }
                },
                "velocity": {
                    "x": -6.2294464111328125,
                    "y": 0.03739579766988754,
                    "z": 0.03573179244995117
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2765977084636688,
        "expert_target_speed": 10.0,
        "target_point": [
            44.05573190085067,
            0.1273312764217565
        ],
        "target_point_next": [
            95.05495039413837,
            -0.15032580252476443
        ]
    },
    "190": {
        "acceleration": [
            -3.22052001953125,
            0.0847896933555603,
            0.011878237128257751
        ],
        "angular_velocity": [
            -0.0374971367418766,
            0.9969555139541626,
            -3.5872914791107178
        ],
        "forward_vector": [
            -0.9999539852142334,
            0.006101315841078758,
            0.007405570708215237
        ],
        "right_vector": [
            -0.006107616703957319,
            -0.9999809861183167,
            -0.0008285465301014483
        ],
        "location": [
            672.5588989257812,
            4287.5078125,
            369.83636474609375
        ],
        "rotation": [
            0.04747352749109268,
            0.4243118166923523,
            179.65040588378906
        ],
        "velocity": [
            -8.44575023651123,
            0.06994178146123886,
            0.0457070916891098
        ],
        "speed": 8.446039835942255,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 30.094820022583008,
        "front_vehicle_info": {
            "id": 37505,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 37644,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 602.7496948242188,
                        "y": 4297.3046875,
                        "z": 370.21002197265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2710287272930145,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37643,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 602.7305297851562,
                        "y": 4294.0546875,
                        "z": 370.21002197265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2710287272930145,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37628,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.138036727905273,
                "transform": {
                    "location": {
                        "x": 643.951171875,
                        "y": 4297.15771484375,
                        "z": 369.98974609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.29836997389793396,
                        "yaw": -0.2782592475414276
                    }
                },
                "velocity": {
                    "x": 8.137825965881348,
                    "y": -0.04113064333796501,
                    "z": -0.04163643345236778
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37627,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.102008819580078,
                "transform": {
                    "location": {
                        "x": 644.01171875,
                        "y": 4293.90380859375,
                        "z": 369.98345947265625
                    },
                    "rotation": {
                        "roll": -0.0003662109375,
                        "pitch": -0.29016008973121643,
                        "yaw": -0.2612304091453552
                    }
                },
                "velocity": {
                    "x": 8.101812362670898,
                    "y": -0.038481876254081726,
                    "z": -0.04121082276105881
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 37624,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.024652481079102,
                "transform": {
                    "location": {
                        "x": 685.9005126953125,
                        "y": 4296.92529296875,
                        "z": 369.76593017578125
                    },
                    "rotation": {
                        "roll": 0.00011480630928417668,
                        "pitch": -0.3251579701900482,
                        "yaw": -0.1698913425207138
                    }
                },
                "velocity": {
                    "x": 8.02438735961914,
                    "y": -0.04720081761479378,
                    "z": -0.0450165793299675
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 37622,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.03712272644043,
                "transform": {
                    "location": {
                        "x": 686.6083374023438,
                        "y": 4293.65966796875,
                        "z": 369.7635498046875
                    },
                    "rotation": {
                        "roll": -0.0001525879488326609,
                        "pitch": -0.32678353786468506,
                        "yaw": -0.3326110243797302
                    }
                },
                "velocity": {
                    "x": 8.036859512329102,
                    "y": -0.04663420096039772,
                    "z": -0.04531902074813843
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 37519,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084342956542969,
                "transform": {
                    "location": {
                        "x": 728.2387084960938,
                        "y": 4296.6650390625,
                        "z": 369.5173034667969
                    },
                    "rotation": {
                        "roll": 0.0016957116313278675,
                        "pitch": -0.3335864245891571,
                        "yaw": -0.3609313666820526
                    }
                },
                "velocity": {
                    "x": 8.084044456481934,
                    "y": -0.051752932369709015,
                    "z": -0.04627104103565216
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37518,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.105016708374023,
                "transform": {
                    "location": {
                        "x": 727.6331176757812,
                        "y": 4293.4189453125,
                        "z": 369.5299987792969
                    },
                    "rotation": {
                        "roll": 0.0002688794338610023,
                        "pitch": -0.32879847288131714,
                        "yaw": -0.3569640815258026
                    }
                },
                "velocity": {
                    "x": 8.10471248626709,
                    "y": -0.05046194791793823,
                    "z": -0.04889141395688057
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.69821834564209,
                "transform": {
                    "location": {
                        "x": 711.4373168945312,
                        "y": 4286.8125,
                        "z": 369.6146545410156
                    },
                    "rotation": {
                        "roll": -0.00045776370097883046,
                        "pitch": 0.3406488299369812,
                        "yaw": 179.6594696044922
                    }
                },
                "velocity": {
                    "x": -8.697928428649902,
                    "y": 0.05127982050180435,
                    "z": 0.04912935197353363
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.821844100952148,
                "transform": {
                    "location": {
                        "x": 692.4066772460938,
                        "y": 4286.9248046875,
                        "z": 369.7337341308594
                    },
                    "rotation": {
                        "roll": -6.103515625e-05,
                        "pitch": 0.33275315165519714,
                        "yaw": 179.68170166015625
                    }
                },
                "velocity": {
                    "x": -8.821544647216797,
                    "y": 0.05088804289698601,
                    "z": 0.05188563093543053
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.8447117805480957,
                "transform": {
                    "location": {
                        "x": 622.2645263671875,
                        "y": 4287.41162109375,
                        "z": 370.09918212890625
                    },
                    "rotation": {
                        "roll": -0.0032958979718387127,
                        "pitch": 0.6577745079994202,
                        "yaw": -179.8205108642578
                    }
                },
                "velocity": {
                    "x": -3.844609260559082,
                    "y": -0.02118757925927639,
                    "z": 0.018405189737677574
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 602.6395263671875,
                        "y": 4287.55419921875,
                        "z": 370.3494567871094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.26897966861724854,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.426985740661621,
                "transform": {
                    "location": {
                        "x": 700.450927734375,
                        "y": 4290.12744140625,
                        "z": 369.68756103515625
                    },
                    "rotation": {
                        "roll": -0.0010070801945403218,
                        "pitch": 0.30584901571273804,
                        "yaw": 179.65823364257812
                    }
                },
                "velocity": {
                    "x": -9.426666259765625,
                    "y": 0.05626292899250984,
                    "z": 0.05350930243730545
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.341900825500488,
                "transform": {
                    "location": {
                        "x": 681.6771850585938,
                        "y": 4290.23681640625,
                        "z": 369.7945251464844
                    },
                    "rotation": {
                        "roll": 0.0001285660546272993,
                        "pitch": 0.26931434869766235,
                        "yaw": 179.7296142578125
                    }
                },
                "velocity": {
                    "x": -7.341649055480957,
                    "y": 0.0444827638566494,
                    "z": 0.04141794890165329
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.042845726013184,
                "transform": {
                    "location": {
                        "x": 662.2706298828125,
                        "y": 4290.35107421875,
                        "z": 369.9313049316406
                    },
                    "rotation": {
                        "roll": -0.00015258770145010203,
                        "pitch": 0.3104730546474457,
                        "yaw": 179.6422119140625
                    }
                },
                "velocity": {
                    "x": -8.04256534576416,
                    "y": 0.05027509480714798,
                    "z": 0.044519711285829544
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37625,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.426199913024902,
                "transform": {
                    "location": {
                        "x": 719.053955078125,
                        "y": 4290.01708984375,
                        "z": 369.5690002441406
                    },
                    "rotation": {
                        "roll": -0.0011596680851653218,
                        "pitch": 0.9539246559143066,
                        "yaw": 179.6573486328125
                    }
                },
                "velocity": {
                    "x": -8.425909042358398,
                    "y": 0.05035315826535225,
                    "z": 0.04872770234942436
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.28118622303009033,
        "expert_target_speed": 10.0,
        "target_point": [
            42.01937381259865,
            0.37406641147846853
        ],
        "target_point_next": [
            93.01934716721922,
            0.38397638519694144
        ]
    },
    "195": {
        "acceleration": [
            -7.890682220458984,
            0.4359695315361023,
            0.03405474126338959
        ],
        "angular_velocity": [
            0.1954190880060196,
            1.5001907348632812,
            -1.5161476135253906
        ],
        "forward_vector": [
            -0.9998891353607178,
            0.011557440273463726,
            0.009384732693433762
        ],
        "right_vector": [
            -0.011568485759198666,
            -0.9999324083328247,
            -0.0011235004058107734
        ],
        "location": [
            670.36279296875,
            4287.5302734375,
            369.8478698730469
        ],
        "rotation": [
            0.06437467783689499,
            0.5377134680747986,
            179.3377685546875
        ],
        "velocity": [
            -9.193744659423828,
            0.13027600944042206,
            0.05003640055656433
        ],
        "speed": 9.194667623210742,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 27.902061462402344,
        "front_vehicle_info": {
            "id": 37505,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 37644,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.267817497253418,
                "transform": {
                    "location": {
                        "x": 604.797119140625,
                        "y": 4297.30029296875,
                        "z": 370.1938171386719
                    },
                    "rotation": {
                        "roll": -0.050384510308504105,
                        "pitch": -0.30785709619522095,
                        "yaw": -0.060791015625
                    }
                },
                "velocity": {
                    "x": 8.267565727233887,
                    "y": 0.027928799390792847,
                    "z": -0.05818677321076393
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37643,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.267313003540039,
                "transform": {
                    "location": {
                        "x": 604.7779541015625,
                        "y": 4294.05029296875,
                        "z": 370.19378662109375
                    },
                    "rotation": {
                        "roll": -0.0496520958840847,
                        "pitch": -0.3077341616153717,
                        "yaw": -0.0609435997903347
                    }
                },
                "velocity": {
                    "x": 8.267061233520508,
                    "y": 0.02789643406867981,
                    "z": -0.058206744492053986
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37628,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.986800670623779,
                "transform": {
                    "location": {
                        "x": 645.9603271484375,
                        "y": 4297.14794921875,
                        "z": 369.9792785644531
                    },
                    "rotation": {
                        "roll": -9.155261068372056e-05,
                        "pitch": -0.30300766229629517,
                        "yaw": -0.2993773818016052
                    }
                },
                "velocity": {
                    "x": 7.986575126647949,
                    "y": -0.04293830692768097,
                    "z": -0.041958048939704895
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37627,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.089240074157715,
                "transform": {
                    "location": {
                        "x": 646.0450439453125,
                        "y": 4293.89404296875,
                        "z": 369.9729309082031
                    },
                    "rotation": {
                        "roll": -0.0019836423452943563,
                        "pitch": -0.300876647233963,
                        "yaw": -0.2733764052391052
                    }
                },
                "velocity": {
                    "x": 8.089041709899902,
                    "y": -0.0386514812707901,
                    "z": -0.041375432163476944
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 37624,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.084539413452148,
                "transform": {
                    "location": {
                        "x": 687.9146118164062,
                        "y": 4296.9140625,
                        "z": 369.7545471191406
                    },
                    "rotation": {
                        "roll": 0.0002729816478677094,
                        "pitch": -0.32521945238113403,
                        "yaw": -0.178558349609375
                    }
                },
                "velocity": {
                    "x": 8.084282875061035,
                    "y": -0.045693229883909225,
                    "z": -0.045273806899785995
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 37622,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.050132751464844,
                "transform": {
                    "location": {
                        "x": 688.6203002929688,
                        "y": 4293.64794921875,
                        "z": 369.7521667480469
                    },
                    "rotation": {
                        "roll": 0.0009177454630844295,
                        "pitch": -0.3242154121398926,
                        "yaw": -0.3325194716453552
                    }
                },
                "velocity": {
                    "x": 8.049872398376465,
                    "y": -0.04674748703837395,
                    "z": -0.04488516226410866
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 37519,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.052425384521484,
                "transform": {
                    "location": {
                        "x": 730.255615234375,
                        "y": 4296.6513671875,
                        "z": 369.5055847167969
                    },
                    "rotation": {
                        "roll": 0.0012213432928547263,
                        "pitch": -0.3326984941959381,
                        "yaw": -0.402801513671875
                    }
                },
                "velocity": {
                    "x": 8.052010536193848,
                    "y": -0.06735925376415253,
                    "z": -0.0462462492287159
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37518,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.053427696228027,
                "transform": {
                    "location": {
                        "x": 729.6519165039062,
                        "y": 4293.40576171875,
                        "z": 369.5184020996094
                    },
                    "rotation": {
                        "roll": 0.005463930778205395,
                        "pitch": -0.3422265946865082,
                        "yaw": -0.3761596381664276
                    }
                },
                "velocity": {
                    "x": 8.05303955078125,
                    "y": -0.062411293387413025,
                    "z": -0.04856563359498978
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.894973754882812,
                "transform": {
                    "location": {
                        "x": 709.2175903320312,
                        "y": 4286.826171875,
                        "z": 369.62744140625
                    },
                    "rotation": {
                        "roll": -0.0005187985952943563,
                        "pitch": 0.3392554819583893,
                        "yaw": 179.66729736328125
                    }
                },
                "velocity": {
                    "x": -8.894664764404297,
                    "y": 0.05204782262444496,
                    "z": 0.0528225414454937
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.975004196166992,
                "transform": {
                    "location": {
                        "x": 690.189697265625,
                        "y": 4286.93798828125,
                        "z": 369.7467041015625
                    },
                    "rotation": {
                        "roll": 4.861377601628192e-05,
                        "pitch": 0.3047971725463867,
                        "yaw": 179.6525421142578
                    }
                },
                "velocity": {
                    "x": -8.974699974060059,
                    "y": 0.05212782323360443,
                    "z": 0.05236929655075073
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.146750450134277,
                "transform": {
                    "location": {
                        "x": 621.1317138671875,
                        "y": 4287.40576171875,
                        "z": 370.1042175292969
                    },
                    "rotation": {
                        "roll": -0.00408935546875,
                        "pitch": 0.814124345779419,
                        "yaw": -179.74313354492188
                    }
                },
                "velocity": {
                    "x": -5.1465864181518555,
                    "y": -0.029840664938092232,
                    "z": 0.028273237869143486
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.1428714096546173,
                "transform": {
                    "location": {
                        "x": 602.6392822265625,
                        "y": 4287.55419921875,
                        "z": 370.2431640625
                    },
                    "rotation": {
                        "roll": 0.0005644150078296661,
                        "pitch": 0.2702295780181885,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": -0.000653948460239917,
                    "y": 2.8487652343756054e-06,
                    "z": -0.14286990463733673
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.563820838928223,
                "transform": {
                    "location": {
                        "x": 698.1801147460938,
                        "y": 4290.14111328125,
                        "z": 369.6999206542969
                    },
                    "rotation": {
                        "roll": -0.0014648435171693563,
                        "pitch": 0.38970324397087097,
                        "yaw": 179.65798950195312
                    }
                },
                "velocity": {
                    "x": -8.563519477844238,
                    "y": 0.05110877379775047,
                    "z": 0.05052381381392479
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.015337944030762,
                "transform": {
                    "location": {
                        "x": 679.6680908203125,
                        "y": 4290.24951171875,
                        "z": 369.80670166015625
                    },
                    "rotation": {
                        "roll": 6.241536902962252e-05,
                        "pitch": 0.15875408053398132,
                        "yaw": 179.7127227783203
                    }
                },
                "velocity": {
                    "x": -9.01504898071289,
                    "y": 0.052431922405958176,
                    "z": 0.049619290977716446
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.009181022644043,
                "transform": {
                    "location": {
                        "x": 660.2642211914062,
                        "y": 4290.3623046875,
                        "z": 369.942138671875
                    },
                    "rotation": {
                        "roll": 4.704547245637514e-05,
                        "pitch": 0.3108828663825989,
                        "yaw": 179.6469268798828
                    }
                },
                "velocity": {
                    "x": -8.00891399383545,
                    "y": 0.0479193814098835,
                    "z": 0.04462187737226486
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37625,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.053491592407227,
                "transform": {
                    "location": {
                        "x": 716.84326171875,
                        "y": 4290.03076171875,
                        "z": 369.58251953125
                    },
                    "rotation": {
                        "roll": -0.000274658203125,
                        "pitch": 0.7714083790779114,
                        "yaw": 179.65992736816406
                    }
                },
                "velocity": {
                    "x": -9.053174018859863,
                    "y": 0.053801488131284714,
                    "z": 0.053467292338609695
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2777235805988312,
        "expert_target_speed": 10.0,
        "target_point": [
            39.82048836260105,
            0.6004135299503193
        ],
        "target_point_next": [
            90.81964843959705,
            0.8886006575685269
        ]
    },
    "200": {
        "acceleration": [
            -4.018726348876953,
            1.4098763465881348,
            0.016074329614639282
        ],
        "angular_velocity": [
            0.8899719715118408,
            0.07801948487758636,
            -6.419136047363281
        ],
        "forward_vector": [
            -0.9995654225349426,
            0.025876687839627266,
            0.014122135005891323
        ],
        "right_vector": [
            -0.02592664398252964,
            -0.9996581673622131,
            -0.0033659986220300198
        ],
        "location": [
            667.856689453125,
            4287.58544921875,
            369.86065673828125
        ],
        "rotation": [
            0.19287711381912231,
            0.8091656565666199,
            178.51705932617188
        ],
        "velocity": [
            -10.580548286437988,
            0.35514670610427856,
            0.057231537997722626
        ],
        "speed": 10.58650703605786,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 25.402135848999023,
        "front_vehicle_info": {
            "id": 37505,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 37644,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.046809196472168,
                "transform": {
                    "location": {
                        "x": 606.8355102539062,
                        "y": 4297.30810546875,
                        "z": 370.1824645996094
                    },
                    "rotation": {
                        "roll": -0.02633666805922985,
                        "pitch": -0.2775857150554657,
                        "yaw": 0.32322272658348083
                    }
                },
                "velocity": {
                    "x": 8.046631813049316,
                    "y": 0.04004214331507683,
                    "z": -0.03539620339870453
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37643,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.046817779541016,
                "transform": {
                    "location": {
                        "x": 606.8162841796875,
                        "y": 4294.05810546875,
                        "z": 370.1824035644531
                    },
                    "rotation": {
                        "roll": -0.02624511532485485,
                        "pitch": -0.27740129828453064,
                        "yaw": 0.3229329288005829
                    }
                },
                "velocity": {
                    "x": 8.04664134979248,
                    "y": 0.03993813693523407,
                    "z": -0.0353144071996212
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37628,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.120361328125,
                "transform": {
                    "location": {
                        "x": 647.9744262695312,
                        "y": 4297.13623046875,
                        "z": 369.9685974121094
                    },
                    "rotation": {
                        "roll": -0.000732421875,
                        "pitch": -0.30358824133872986,
                        "yaw": -0.313934326171875
                    }
                },
                "velocity": {
                    "x": 8.120131492614746,
                    "y": -0.044745877385139465,
                    "z": -0.04149912670254707
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37627,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.97774600982666,
                "transform": {
                    "location": {
                        "x": 648.04541015625,
                        "y": 4293.88427734375,
                        "z": 369.96240234375
                    },
                    "rotation": {
                        "roll": -0.00024414055224042386,
                        "pitch": -0.3094485402107239,
                        "yaw": -0.2892455756664276
                    }
                },
                "velocity": {
                    "x": 7.97753381729126,
                    "y": -0.04023679718375206,
                    "z": -0.042005136609077454
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 37624,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.020544052124023,
                "transform": {
                    "location": {
                        "x": 689.927001953125,
                        "y": 4296.90185546875,
                        "z": 369.7431945800781
                    },
                    "rotation": {
                        "roll": 5.0873732106992975e-05,
                        "pitch": -0.32732996344566345,
                        "yaw": -0.1634521335363388
                    }
                },
                "velocity": {
                    "x": 8.020285606384277,
                    "y": -0.046118490397930145,
                    "z": -0.044873904436826706
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 37622,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.040103912353516,
                "transform": {
                    "location": {
                        "x": 690.6314086914062,
                        "y": 4293.63623046875,
                        "z": 369.74072265625
                    },
                    "rotation": {
                        "roll": 0.0011158330598846078,
                        "pitch": -0.3291262984275818,
                        "yaw": -0.337493896484375
                    }
                },
                "velocity": {
                    "x": 8.03983211517334,
                    "y": -0.04823298752307892,
                    "z": -0.04513797163963318
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 37519,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084673881530762,
                "transform": {
                    "location": {
                        "x": 732.2727661132812,
                        "y": 4296.63330078125,
                        "z": 369.4938659667969
                    },
                    "rotation": {
                        "roll": 0.000392572779674083,
                        "pitch": -0.33245259523391724,
                        "yaw": -0.53717041015625
                    }
                },
                "velocity": {
                    "x": 8.084129333496094,
                    "y": -0.08212394267320633,
                    "z": -0.04535003378987312
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37518,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.0919771194458,
                "transform": {
                    "location": {
                        "x": 731.669921875,
                        "y": 4293.388671875,
                        "z": 369.506591796875
                    },
                    "rotation": {
                        "roll": 0.015041403472423553,
                        "pitch": -0.33569011092185974,
                        "yaw": -0.5084227919578552
                    }
                },
                "velocity": {
                    "x": 8.091439247131348,
                    "y": -0.07964827120304108,
                    "z": -0.04844161868095398
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.685782432556152,
                "transform": {
                    "location": {
                        "x": 707.0226440429688,
                        "y": 4286.8388671875,
                        "z": 369.6403503417969
                    },
                    "rotation": {
                        "roll": -3.0517596314894035e-05,
                        "pitch": 0.3292151093482971,
                        "yaw": 179.66566467285156
                    }
                },
                "velocity": {
                    "x": -8.68548583984375,
                    "y": 0.0500943660736084,
                    "z": 0.051301419734954834
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.193214416503906,
                "transform": {
                    "location": {
                        "x": 687.9327392578125,
                        "y": 4286.95166015625,
                        "z": 369.7590026855469
                    },
                    "rotation": {
                        "roll": 0.000837477098684758,
                        "pitch": 0.3724296987056732,
                        "yaw": 179.67465209960938
                    }
                },
                "velocity": {
                    "x": -9.19290542602539,
                    "y": 0.05387502908706665,
                    "z": 0.05270393192768097
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.337136268615723,
                "transform": {
                    "location": {
                        "x": 619.8021240234375,
                        "y": 4287.40380859375,
                        "z": 370.11181640625
                    },
                    "rotation": {
                        "roll": 0.019126959145069122,
                        "pitch": 0.5678004026412964,
                        "yaw": -179.87904357910156
                    }
                },
                "velocity": {
                    "x": -5.337074279785156,
                    "y": -0.0029033981263637543,
                    "z": 0.02558085322380066
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.004519499838352203,
                "transform": {
                    "location": {
                        "x": 602.6392822265625,
                        "y": 4287.55419921875,
                        "z": 370.2328796386719
                    },
                    "rotation": {
                        "roll": 0.0005378153291530907,
                        "pitch": 0.2704208493232727,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": -1.0467431820870843e-05,
                    "y": 3.723469126271084e-05,
                    "z": -0.004519334528595209
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.078407287597656,
                "transform": {
                    "location": {
                        "x": 696.1762084960938,
                        "y": 4290.15234375,
                        "z": 369.7106628417969
                    },
                    "rotation": {
                        "roll": 0.00024150943499989808,
                        "pitch": 0.4816034436225891,
                        "yaw": 179.68182373046875
                    }
                },
                "velocity": {
                    "x": -7.078179359436035,
                    "y": 0.039458323270082474,
                    "z": 0.040870875120162964
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.79485034942627,
                "transform": {
                    "location": {
                        "x": 677.3861083984375,
                        "y": 4290.26220703125,
                        "z": 369.8182067871094
                    },
                    "rotation": {
                        "roll": -0.0003051757230423391,
                        "pitch": 0.30031657218933105,
                        "yaw": 179.65704345703125
                    }
                },
                "velocity": {
                    "x": -8.79455852508545,
                    "y": 0.05280056223273277,
                    "z": 0.04850583150982857
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.043085098266602,
                "transform": {
                    "location": {
                        "x": 658.2578125,
                        "y": 4290.37451171875,
                        "z": 369.9529724121094
                    },
                    "rotation": {
                        "roll": -0.0011901854304596782,
                        "pitch": 0.30980369448661804,
                        "yaw": 179.64529418945312
                    }
                },
                "velocity": {
                    "x": -8.042813301086426,
                    "y": 0.04990321397781372,
                    "z": 0.04347996786236763
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37625,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.821334838867188,
                "transform": {
                    "location": {
                        "x": 714.4119262695312,
                        "y": 4290.044921875,
                        "z": 369.59686279296875
                    },
                    "rotation": {
                        "roll": 0.0005622254684567451,
                        "pitch": 0.7241707444190979,
                        "yaw": 179.66061401367188
                    }
                },
                "velocity": {
                    "x": -9.820999145507812,
                    "y": 0.05815179646015167,
                    "z": 0.05658688396215439
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.310211181640625,
        "expert_target_speed": 10.0,
        "target_point": [
            37.30111154403986,
            1.1610118024766198
        ],
        "target_point_next": [
            88.29091222649714,
            2.179641638513744
        ]
    },
    "205": {
        "acceleration": [
            -3.2805824279785156,
            2.1598994731903076,
            0.0046459585428237915
        ],
        "angular_velocity": [
            0.7882449626922607,
            -0.28637227416038513,
            -9.771379470825195
        ],
        "forward_vector": [
            -0.9977759122848511,
            0.06530023366212845,
            0.013382749632000923
        ],
        "right_vector": [
            -0.06541545689105988,
            -0.9978230595588684,
            -0.008360213600099087
        ],
        "location": [
            665.0973510742188,
            4287.734375,
            369.8758544921875
        ],
        "rotation": [
            0.47905343770980835,
            0.7667979598045349,
            176.2555694580078
        ],
        "velocity": [
            -11.442869186401367,
            0.8726838231086731,
            0.06131293252110481
        ],
        "speed": 11.476098303526745,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 22.65720558166504,
        "front_vehicle_info": {
            "id": 37505,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 37644,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.272296905517578,
                "transform": {
                    "location": {
                        "x": 608.8766479492188,
                        "y": 4297.3154296875,
                        "z": 370.1736755371094
                    },
                    "rotation": {
                        "roll": 0.014895559288561344,
                        "pitch": -0.2659607231616974,
                        "yaw": 0.2551950216293335
                    }
                },
                "velocity": {
                    "x": 8.272193908691406,
                    "y": 0.021522531285881996,
                    "z": -0.035211529582738876
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37643,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.271890640258789,
                "transform": {
                    "location": {
                        "x": 608.857421875,
                        "y": 4294.0654296875,
                        "z": 370.1736755371094
                    },
                    "rotation": {
                        "roll": 0.014716822654008865,
                        "pitch": -0.2659265697002411,
                        "yaw": 0.2561500668525696
                    }
                },
                "velocity": {
                    "x": 8.2717866897583,
                    "y": 0.02173607237637043,
                    "z": -0.035376522690057755
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37628,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.047245025634766,
                "transform": {
                    "location": {
                        "x": 649.9974365234375,
                        "y": 4297.125,
                        "z": 369.9579162597656
                    },
                    "rotation": {
                        "roll": -0.00012207029067212716,
                        "pitch": -0.3040800094604492,
                        "yaw": -0.3217773139476776
                    }
                },
                "velocity": {
                    "x": 8.04701042175293,
                    "y": -0.0451672300696373,
                    "z": -0.04169807955622673
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37627,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.11404037475586,
                "transform": {
                    "location": {
                        "x": 650.0604248046875,
                        "y": 4293.873046875,
                        "z": 369.9516296386719
                    },
                    "rotation": {
                        "roll": -0.00012207026884425431,
                        "pitch": -0.3010269105434418,
                        "yaw": -0.3069152534008026
                    }
                },
                "velocity": {
                    "x": 8.11381721496582,
                    "y": -0.04347389563918114,
                    "z": -0.041659653186798096
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 37624,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.086575508117676,
                "transform": {
                    "location": {
                        "x": 691.9407958984375,
                        "y": 4296.890625,
                        "z": 369.73175048828125
                    },
                    "rotation": {
                        "roll": -0.000701904296875,
                        "pitch": -0.32784906029701233,
                        "yaw": -0.1988830417394638
                    }
                },
                "velocity": {
                    "x": 8.086310386657715,
                    "y": -0.04731927439570427,
                    "z": -0.045425623655319214
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 37622,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.041813850402832,
                "transform": {
                    "location": {
                        "x": 692.6412353515625,
                        "y": 4293.625,
                        "z": 369.7293395996094
                    },
                    "rotation": {
                        "roll": 0.00048263126518577337,
                        "pitch": -0.329590767621994,
                        "yaw": -0.3412170112133026
                    }
                },
                "velocity": {
                    "x": 8.04154109954834,
                    "y": -0.04883222654461861,
                    "z": -0.04467617720365524
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 37519,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.05134105682373,
                "transform": {
                    "location": {
                        "x": 734.2894897460938,
                        "y": 4296.6123046875,
                        "z": 369.482177734375
                    },
                    "rotation": {
                        "roll": 0.00029793669818900526,
                        "pitch": -0.32991862297058105,
                        "yaw": -0.6125181913375854
                    }
                },
                "velocity": {
                    "x": 8.050735473632812,
                    "y": -0.08770672231912613,
                    "z": -0.04541844129562378
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37518,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.068044662475586,
                "transform": {
                    "location": {
                        "x": 733.6900634765625,
                        "y": 4293.36865234375,
                        "z": 369.4948425292969
                    },
                    "rotation": {
                        "roll": 0.005875871982425451,
                        "pitch": -0.33169445395469666,
                        "yaw": -0.599090576171875
                    }
                },
                "velocity": {
                    "x": 8.06744384765625,
                    "y": -0.08604809641838074,
                    "z": -0.047827400267124176
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.932027816772461,
                "transform": {
                    "location": {
                        "x": 704.8338012695312,
                        "y": 4286.8515625,
                        "z": 369.6529846191406
                    },
                    "rotation": {
                        "roll": -0.0004577635554596782,
                        "pitch": 0.33701518177986145,
                        "yaw": 179.67178344726562
                    }
                },
                "velocity": {
                    "x": -8.931722640991211,
                    "y": 0.051655370742082596,
                    "z": 0.05279858410358429
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.040987968444824,
                "transform": {
                    "location": {
                        "x": 685.5147705078125,
                        "y": 4286.9658203125,
                        "z": 369.7713928222656
                    },
                    "rotation": {
                        "roll": -0.0002441408287268132,
                        "pitch": 0.5271949768066406,
                        "yaw": 179.65684509277344
                    }
                },
                "velocity": {
                    "x": -10.040658950805664,
                    "y": 0.05883415415883064,
                    "z": 0.055982064455747604
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.9120659828186035,
                "transform": {
                    "location": {
                        "x": 618.2688598632812,
                        "y": 4287.40283203125,
                        "z": 370.1182861328125
                    },
                    "rotation": {
                        "roll": 0.012761710211634636,
                        "pitch": 0.7979231476783752,
                        "yaw": -179.95335388183594
                    }
                },
                "velocity": {
                    "x": -6.911987781524658,
                    "y": -0.0008689790847711265,
                    "z": 0.032927121967077255
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005773697630502284,
                "transform": {
                    "location": {
                        "x": 602.6392822265625,
                        "y": 4287.55419921875,
                        "z": 370.23272705078125
                    },
                    "rotation": {
                        "roll": 0.0006825410528108478,
                        "pitch": 0.2705232799053192,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 1.266162780666491e-05,
                    "y": -0.00035574319190345705,
                    "z": 0.000454579247161746
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.996490001678467,
                "transform": {
                    "location": {
                        "x": 694.4423217773438,
                        "y": 4290.162109375,
                        "z": 369.7215881347656
                    },
                    "rotation": {
                        "roll": -0.0003051757230423391,
                        "pitch": 0.3665079176425934,
                        "yaw": 179.64511108398438
                    }
                },
                "velocity": {
                    "x": -6.996242046356201,
                    "y": 0.042284268885850906,
                    "z": 0.041020289063453674
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.503106117248535,
                "transform": {
                    "location": {
                        "x": 675.259521484375,
                        "y": 4290.275390625,
                        "z": 369.8295593261719
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": 0.3426910638809204,
                        "yaw": 179.67791748046875
                    }
                },
                "velocity": {
                    "x": -8.50281810760498,
                    "y": 0.05059848353266716,
                    "z": 0.04828663542866707
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.007214546203613,
                "transform": {
                    "location": {
                        "x": 656.251708984375,
                        "y": 4290.38671875,
                        "z": 369.9637451171875
                    },
                    "rotation": {
                        "roll": -0.0015869138296693563,
                        "pitch": 0.3072833716869354,
                        "yaw": 179.63848876953125
                    }
                },
                "velocity": {
                    "x": -8.006939888000488,
                    "y": 0.0507357157766819,
                    "z": 0.04269849509000778
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37625,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.85991096496582,
                "transform": {
                    "location": {
                        "x": 712.0860595703125,
                        "y": 4290.05859375,
                        "z": 369.61224365234375
                    },
                    "rotation": {
                        "roll": 9.900593431666493e-05,
                        "pitch": 0.21779422461986542,
                        "yaw": 179.66000366210938
                    }
                },
                "velocity": {
                    "x": -8.859604835510254,
                    "y": 0.05254875868558884,
                    "z": 0.05154774710536003
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.48466649651527405,
        "expert_target_speed": 0,
        "target_point": [
            34.46307123592648,
            2.6004319709962154
        ],
        "target_point_next": [
            85.37296213696504,
            5.630347617336764
        ]
    },
    "210": {
        "acceleration": [
            0.9554672241210938,
            1.9678592681884766,
            0.006220638751983643
        ],
        "angular_velocity": [
            0.24624060094356537,
            -1.2662767171859741,
            -11.919997215270996
        ],
        "forward_vector": [
            -0.9936839938163757,
            0.11169471591711044,
            0.010787277482450008
        ],
        "right_vector": [
            -0.11181169003248215,
            -0.9936692714691162,
            -0.010927490890026093
        ],
        "location": [
            662.1691284179688,
            4288.01611328125,
            369.8921813964844
        ],
        "rotation": [
            0.6261480450630188,
            0.6180774569511414,
            173.58660888671875
        ],
        "velocity": [
            -11.775470733642578,
            1.412786841392517,
            0.06446798145771027
        ],
        "speed": 11.85991895664067,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 19.761001586914062,
        "front_vehicle_info": {
            "id": 37505,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 37644,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.052578926086426,
                "transform": {
                    "location": {
                        "x": 610.9159545898438,
                        "y": 4297.3212890625,
                        "z": 370.16436767578125
                    },
                    "rotation": {
                        "roll": 0.005274483002722263,
                        "pitch": -0.2750858664512634,
                        "yaw": 0.1255153864622116
                    }
                },
                "velocity": {
                    "x": 8.052478790283203,
                    "y": 0.012334086932241917,
                    "z": -0.03827165067195892
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37643,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.052624702453613,
                "transform": {
                    "location": {
                        "x": 610.896728515625,
                        "y": 4294.07080078125,
                        "z": 370.16436767578125
                    },
                    "rotation": {
                        "roll": 0.005466465372592211,
                        "pitch": -0.27520880103111267,
                        "yaw": 0.12604792416095734
                    }
                },
                "velocity": {
                    "x": 8.052523612976074,
                    "y": 0.012373065575957298,
                    "z": -0.03829576075077057
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37628,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.072578430175781,
                "transform": {
                    "location": {
                        "x": 652.010009765625,
                        "y": 4297.11279296875,
                        "z": 369.947265625
                    },
                    "rotation": {
                        "roll": 0.001099808025173843,
                        "pitch": -0.3042917549610138,
                        "yaw": -0.3228149116039276
                    }
                },
                "velocity": {
                    "x": 8.072336196899414,
                    "y": -0.045434463769197464,
                    "z": -0.042871154844760895
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37627,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.008004188537598,
                "transform": {
                    "location": {
                        "x": 652.0756225585938,
                        "y": 4293.861328125,
                        "z": 369.9410095214844
                    },
                    "rotation": {
                        "roll": 5.6040635172394104e-06,
                        "pitch": -0.3059992790222168,
                        "yaw": -0.3082275092601776
                    }
                },
                "velocity": {
                    "x": 8.00777816772461,
                    "y": -0.04301196336746216,
                    "z": -0.042115915566682816
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 37624,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.020187377929688,
                "transform": {
                    "location": {
                        "x": 693.9537353515625,
                        "y": 4296.87841796875,
                        "z": 369.72021484375
                    },
                    "rotation": {
                        "roll": -0.0018920896109193563,
                        "pitch": -0.32974785566329956,
                        "yaw": -0.1641235202550888
                    }
                },
                "velocity": {
                    "x": 8.019927024841309,
                    "y": -0.04560796543955803,
                    "z": -0.045762285590171814
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 37622,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.046629905700684,
                "transform": {
                    "location": {
                        "x": 694.6526489257812,
                        "y": 4293.61279296875,
                        "z": 369.7178039550781
                    },
                    "rotation": {
                        "roll": 0.00010849482350749895,
                        "pitch": -0.3295019567012787,
                        "yaw": -0.343017578125
                    }
                },
                "velocity": {
                    "x": 8.046355247497559,
                    "y": -0.04819396883249283,
                    "z": -0.04577059671282768
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 37519,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 736.3587036132812,
                        "y": 4296.55224609375,
                        "z": 369.4722900390625
                    },
                    "rotation": {
                        "roll": 2.0844434511779752e-10,
                        "pitch": -0.33316296339035034,
                        "yaw": -1.0694578886032104
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37518,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 735.7476196289062,
                        "y": 4293.3193359375,
                        "z": 369.4817810058594
                    },
                    "rotation": {
                        "roll": 2.0844434511779752e-10,
                        "pitch": -0.33316296339035034,
                        "yaw": -1.0694578886032104
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.603105545043945,
                "transform": {
                    "location": {
                        "x": 702.5178833007812,
                        "y": 4286.865234375,
                        "z": 369.6663513183594
                    },
                    "rotation": {
                        "roll": 0.0009092704276554286,
                        "pitch": 0.34629055857658386,
                        "yaw": 179.6643524169922
                    }
                },
                "velocity": {
                    "x": -9.602788925170898,
                    "y": 0.05581379681825638,
                    "z": 0.054429251700639725
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.912858963012695,
                "transform": {
                    "location": {
                        "x": 682.9187622070312,
                        "y": 4286.98095703125,
                        "z": 369.7859191894531
                    },
                    "rotation": {
                        "roll": -0.0011901854304596782,
                        "pitch": 0.5308490991592407,
                        "yaw": 179.72564697265625
                    }
                },
                "velocity": {
                    "x": -10.912516593933105,
                    "y": 0.0610492117702961,
                    "z": 0.061199214309453964
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.055712699890137,
                "transform": {
                    "location": {
                        "x": 616.3700561523438,
                        "y": 4287.40283203125,
                        "z": 370.12725830078125
                    },
                    "rotation": {
                        "roll": 0.007776551879942417,
                        "pitch": 0.8325658440589905,
                        "yaw": -179.99063110351562
                    }
                },
                "velocity": {
                    "x": -8.055625915527344,
                    "y": 0.00029320118483155966,
                    "z": 0.03738139942288399
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0015136186266317964,
                "transform": {
                    "location": {
                        "x": 602.6392822265625,
                        "y": 4287.55419921875,
                        "z": 370.23272705078125
                    },
                    "rotation": {
                        "roll": 0.0006825410528108478,
                        "pitch": 0.2705232799053192,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 1.7213038518093526e-05,
                    "y": 3.7625817640218884e-05,
                    "z": 0.0015130529645830393
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.613313674926758,
                "transform": {
                    "location": {
                        "x": 692.6096801757812,
                        "y": 4290.173828125,
                        "z": 369.73284912109375
                    },
                    "rotation": {
                        "roll": 0.0005196799756959081,
                        "pitch": 0.2739110589027405,
                        "yaw": 179.67877197265625
                    }
                },
                "velocity": {
                    "x": -7.613070964813232,
                    "y": 0.0434398390352726,
                    "z": 0.042541179805994034
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.715644836425781,
                "transform": {
                    "location": {
                        "x": 673.076416015625,
                        "y": 4290.28857421875,
                        "z": 369.8420715332031
                    },
                    "rotation": {
                        "roll": 0.0006931322859600186,
                        "pitch": 0.29714736342430115,
                        "yaw": 179.6410369873047
                    }
                },
                "velocity": {
                    "x": -8.715361595153809,
                    "y": 0.05184090882539749,
                    "z": 0.04749734699726105
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.043990135192871,
                "transform": {
                    "location": {
                        "x": 654.2451782226562,
                        "y": 4290.3994140625,
                        "z": 369.9743957519531
                    },
                    "rotation": {
                        "roll": -6.1035061662551016e-05,
                        "pitch": 0.3080073595046997,
                        "yaw": 179.63702392578125
                    }
                },
                "velocity": {
                    "x": -8.043718338012695,
                    "y": 0.05086292326450348,
                    "z": 0.04218500107526779
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37625,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.182417869567871,
                "transform": {
                    "location": {
                        "x": 710.138427734375,
                        "y": 4290.0703125,
                        "z": 369.62506103515625
                    },
                    "rotation": {
                        "roll": 5.5470005463575944e-05,
                        "pitch": -0.1740058958530426,
                        "yaw": 179.6617431640625
                    }
                },
                "velocity": {
                    "x": -7.182168960571289,
                    "y": 0.042331762611866,
                    "z": 0.04223664104938507
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.7397640347480774,
        "expert_target_speed": 0,
        "target_point": [
            31.363229255282118,
            4.1552866271292626
        ],
        "target_point_next": [
            82.07680620529705,
            9.55255383512462
        ]
    },
    "215": {
        "acceleration": [
            2.8053665161132812,
            0.5768465995788574,
            -0.027066022157669067
        ],
        "angular_velocity": [
            -0.8533154726028442,
            -1.0159422159194946,
            -3.126596689224243
        ],
        "forward_vector": [
            -0.9894124865531921,
            0.14505019783973694,
            0.004833798855543137
        ],
        "right_vector": [
            -0.1450887769460678,
            -0.9893785119056702,
            -0.008912854827940464
        ],
        "location": [
            659.2996826171875,
            4288.39892578125,
            369.9090270996094
        ],
        "rotation": [
            0.5106817483901978,
            0.27695733308792114,
            171.6597137451172
        ],
        "velocity": [
            -11.170512199401855,
            1.6516059637069702,
            0.060582760721445084
        ],
        "speed": 11.29195045403309,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 16.951807022094727,
        "front_vehicle_info": {
            "id": 37505,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 37644,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.27808952331543,
                "transform": {
                    "location": {
                        "x": 612.9584350585938,
                        "y": 4297.32177734375,
                        "z": 370.1545104980469
                    },
                    "rotation": {
                        "roll": 0.014867748133838177,
                        "pitch": -0.2754478454589844,
                        "yaw": -0.021392822265625
                    }
                },
                "velocity": {
                    "x": 8.27797794342041,
                    "y": -0.01353823859244585,
                    "z": -0.040854018181562424
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37643,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.277688980102539,
                "transform": {
                    "location": {
                        "x": 612.9392700195312,
                        "y": 4294.07177734375,
                        "z": 370.1545104980469
                    },
                    "rotation": {
                        "roll": 0.014569716528058052,
                        "pitch": -0.2750585377216339,
                        "yaw": -0.020660400390625
                    }
                },
                "velocity": {
                    "x": 8.27757740020752,
                    "y": -0.013549694791436195,
                    "z": -0.040795087814331055
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37628,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.064884185791016,
                "transform": {
                    "location": {
                        "x": 654.0283813476562,
                        "y": 4297.1015625,
                        "z": 369.9365234375
                    },
                    "rotation": {
                        "roll": -0.00036621090839616954,
                        "pitch": -0.3054528832435608,
                        "yaw": -0.3236694037914276
                    }
                },
                "velocity": {
                    "x": 8.06463623046875,
                    "y": -0.046341557055711746,
                    "z": -0.04297535866498947
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37627,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.075247764587402,
                "transform": {
                    "location": {
                        "x": 654.0845336914062,
                        "y": 4293.85009765625,
                        "z": 369.9302978515625
                    },
                    "rotation": {
                        "roll": -0.0009765623253770173,
                        "pitch": -0.30563730001449585,
                        "yaw": -0.3165893256664276
                    }
                },
                "velocity": {
                    "x": 8.0750150680542,
                    "y": -0.04456359148025513,
                    "z": -0.042116835713386536
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 37624,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.085954666137695,
                "transform": {
                    "location": {
                        "x": 695.9671630859375,
                        "y": 4296.8671875,
                        "z": 369.7087097167969
                    },
                    "rotation": {
                        "roll": 0.0008810963481664658,
                        "pitch": -0.3283066749572754,
                        "yaw": -0.19537353515625
                    }
                },
                "velocity": {
                    "x": 8.085673332214355,
                    "y": -0.04968786984682083,
                    "z": -0.04560520127415657
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 37622,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.039790153503418,
                "transform": {
                    "location": {
                        "x": 696.6632690429688,
                        "y": 4293.60107421875,
                        "z": 369.7062683105469
                    },
                    "rotation": {
                        "roll": -0.0001525877887615934,
                        "pitch": -0.3311070501804352,
                        "yaw": -0.3466186225414276
                    }
                },
                "velocity": {
                    "x": 8.039514541625977,
                    "y": -0.04865945875644684,
                    "z": -0.04537450149655342
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 37519,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 738.4407348632812,
                        "y": 4296.482421875,
                        "z": 369.4627990722656
                    },
                    "rotation": {
                        "roll": 2.0844434511779752e-10,
                        "pitch": -0.33316296339035034,
                        "yaw": -1.0694578886032104
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37518,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 737.8297729492188,
                        "y": 4293.2509765625,
                        "z": 369.46795654296875
                    },
                    "rotation": {
                        "roll": 2.0844434511779752e-10,
                        "pitch": -0.33316296339035034,
                        "yaw": -1.0694578886032104
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.405763626098633,
                "transform": {
                    "location": {
                        "x": 700.0145263671875,
                        "y": 4286.87939453125,
                        "z": 369.68072509765625
                    },
                    "rotation": {
                        "roll": 0.0008969050250016153,
                        "pitch": 0.349309504032135,
                        "yaw": 179.67205810546875
                    }
                },
                "velocity": {
                    "x": -10.405423164367676,
                    "y": 0.060120806097984314,
                    "z": 0.058810241520404816
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 11.489240646362305,
                "transform": {
                    "location": {
                        "x": 680.0885009765625,
                        "y": 4286.99658203125,
                        "z": 369.8019104003906
                    },
                    "rotation": {
                        "roll": 0.0011738233733922243,
                        "pitch": 0.50490802526474,
                        "yaw": 179.6757049560547
                    }
                },
                "velocity": {
                    "x": -11.488873481750488,
                    "y": 0.0655294731259346,
                    "z": 0.06445928663015366
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.083594799041748,
                "transform": {
                    "location": {
                        "x": 614.4598999023438,
                        "y": 4287.40576171875,
                        "z": 370.1383972167969
                    },
                    "rotation": {
                        "roll": 0.019688120111823082,
                        "pitch": 0.2720259428024292,
                        "yaw": 179.9067840576172
                    }
                },
                "velocity": {
                    "x": -7.083486080169678,
                    "y": 0.018121939152479172,
                    "z": 0.03480391576886177
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0010253310902044177,
                "transform": {
                    "location": {
                        "x": 602.6392822265625,
                        "y": 4287.55419921875,
                        "z": 370.2327575683594
                    },
                    "rotation": {
                        "roll": 0.0009030699729919434,
                        "pitch": 0.27061209082603455,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": 1.0040588676929474e-05,
                    "y": -3.359698166605085e-05,
                    "z": 0.0010247313184663653
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.320843696594238,
                "transform": {
                    "location": {
                        "x": 690.529541015625,
                        "y": 4290.185546875,
                        "z": 369.7455139160156
                    },
                    "rotation": {
                        "roll": -0.0013427733210846782,
                        "pitch": 0.16093291342258453,
                        "yaw": 179.6197509765625
                    }
                },
                "velocity": {
                    "x": -9.320511817932129,
                    "y": 0.057848576456308365,
                    "z": 0.05322255194187164
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.7252068519592285,
                "transform": {
                    "location": {
                        "x": 671.0087280273438,
                        "y": 4290.30126953125,
                        "z": 369.85272216796875
                    },
                    "rotation": {
                        "roll": -6.103521445766091e-05,
                        "pitch": 0.3802092969417572,
                        "yaw": 179.6693115234375
                    }
                },
                "velocity": {
                    "x": -7.724956512451172,
                    "y": 0.045495934784412384,
                    "z": 0.042394161224365234
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.00800609588623,
                "transform": {
                    "location": {
                        "x": 652.239013671875,
                        "y": 4290.41162109375,
                        "z": 369.9851379394531
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": 0.307153582572937,
                        "yaw": 179.64208984375
                    }
                },
                "velocity": {
                    "x": -8.00775146484375,
                    "y": 0.04851372539997101,
                    "z": 0.04148443043231964
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37625,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.432518005371094,
                "transform": {
                    "location": {
                        "x": 708.3356323242188,
                        "y": 4290.08056640625,
                        "z": 369.63433837890625
                    },
                    "rotation": {
                        "roll": 0.0012430934002622962,
                        "pitch": 0.16719618439674377,
                        "yaw": 179.6617431640625
                    }
                },
                "velocity": {
                    "x": -7.43226957321167,
                    "y": 0.04376748576760292,
                    "z": 0.04210826754570007
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9998787641525269,
        "expert_target_speed": 0,
        "target_point": [
            28.311151125775332,
            5.170041761142837
        ],
        "target_point_next": [
            78.8145743177772,
            12.269452037296412
        ]
    },
    "220": {
        "acceleration": [
            12.514991760253906,
            -2.0368194580078125,
            -0.06318971514701843
        ],
        "angular_velocity": [
            -1.6465989351272583,
            -2.829988956451416,
            -0.4558793902397156
        ],
        "forward_vector": [
            -0.9876195788383484,
            0.15686769783496857,
            -0.0003079175658058375
        ],
        "right_vector": [
            -0.15686455368995667,
            -0.9876089692115784,
            -0.0046979873441159725
        ],
        "location": [
            656.6198120117188,
            4288.81005859375,
            369.9244689941406
        ],
        "rotation": [
            0.26917585730552673,
            -0.017642376944422722,
            170.97486877441406
        ],
        "velocity": [
            -9.861580848693848,
            1.55105459690094,
            0.052559010684490204
        ],
        "speed": 9.982812589540725,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 14.368705749511719,
        "front_vehicle_info": {
            "id": 37505,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 37644,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.05828857421875,
                "transform": {
                    "location": {
                        "x": 614.9993286132812,
                        "y": 4297.31787109375,
                        "z": 370.1446838378906
                    },
                    "rotation": {
                        "roll": 0.008237279020249844,
                        "pitch": -0.2788082957267761,
                        "yaw": -0.149627685546875
                    }
                },
                "velocity": {
                    "x": 8.058155059814453,
                    "y": -0.02371555007994175,
                    "z": -0.03993429243564606
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37643,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.058384895324707,
                "transform": {
                    "location": {
                        "x": 614.97998046875,
                        "y": 4294.06787109375,
                        "z": 370.1446838378906
                    },
                    "rotation": {
                        "roll": 0.008644131943583488,
                        "pitch": -0.27910882234573364,
                        "yaw": -0.149444580078125
                    }
                },
                "velocity": {
                    "x": 8.058250427246094,
                    "y": -0.023783456534147263,
                    "z": -0.039971835911273956
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37628,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.077692031860352,
                "transform": {
                    "location": {
                        "x": 656.0460815429688,
                        "y": 4297.08935546875,
                        "z": 369.92578125
                    },
                    "rotation": {
                        "roll": 0.0005168991046957672,
                        "pitch": -0.30593782663345337,
                        "yaw": -0.3257750868797302
                    }
                },
                "velocity": {
                    "x": 8.077442169189453,
                    "y": -0.04588206112384796,
                    "z": -0.04395172372460365
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37627,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.032269477844238,
                "transform": {
                    "location": {
                        "x": 656.0989990234375,
                        "y": 4293.837890625,
                        "z": 369.9195861816406
                    },
                    "rotation": {
                        "roll": -0.0007629393949173391,
                        "pitch": -0.3072492182254791,
                        "yaw": -0.3168945610523224
                    }
                },
                "velocity": {
                    "x": 8.032034873962402,
                    "y": -0.0444423146545887,
                    "z": -0.0423843152821064
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 37624,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.020864486694336,
                "transform": {
                    "location": {
                        "x": 697.9801635742188,
                        "y": 4296.85498046875,
                        "z": 369.6971435546875
                    },
                    "rotation": {
                        "roll": -0.0018920896109193563,
                        "pitch": -0.3323706388473511,
                        "yaw": -0.1690063178539276
                    }
                },
                "velocity": {
                    "x": 8.020607948303223,
                    "y": -0.04555995389819145,
                    "z": -0.04515030235052109
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 37622,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.045940399169922,
                "transform": {
                    "location": {
                        "x": 698.673828125,
                        "y": 4293.58935546875,
                        "z": 369.69476318359375
                    },
                    "rotation": {
                        "roll": -3.051760359085165e-05,
                        "pitch": -0.3321520686149597,
                        "yaw": -0.3468322455883026
                    }
                },
                "velocity": {
                    "x": 8.04566478729248,
                    "y": -0.048658087849617004,
                    "z": -0.045456986874341965
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.042306900024414,
                "transform": {
                    "location": {
                        "x": 697.3125610351562,
                        "y": 4286.89501953125,
                        "z": 369.6962890625
                    },
                    "rotation": {
                        "roll": 0.00022390163212548941,
                        "pitch": 0.3465091288089752,
                        "yaw": 179.6642303466797
                    }
                },
                "velocity": {
                    "x": -11.041935920715332,
                    "y": 0.06432166695594788,
                    "z": 0.0636880099773407
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.681407928466797,
                "transform": {
                    "location": {
                        "x": 677.3001708984375,
                        "y": 4287.01171875,
                        "z": 369.8199768066406
                    },
                    "rotation": {
                        "roll": 0.002141362288966775,
                        "pitch": 0.18827416002750397,
                        "yaw": 179.6604766845703
                    }
                },
                "velocity": {
                    "x": -10.681056022644043,
                    "y": 0.06255556643009186,
                    "z": 0.06006983667612076
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.9152441024780273,
                "transform": {
                    "location": {
                        "x": 612.9757080078125,
                        "y": 4287.4091796875,
                        "z": 370.1482849121094
                    },
                    "rotation": {
                        "roll": 0.010084443725645542,
                        "pitch": -0.4962815046310425,
                        "yaw": 179.82003784179688
                    }
                },
                "velocity": {
                    "x": -3.915196418762207,
                    "y": 0.011989114806056023,
                    "z": 0.01516148541122675
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.2018065452575684,
                "transform": {
                    "location": {
                        "x": 602.479736328125,
                        "y": 4287.55322265625,
                        "z": 370.23272705078125
                    },
                    "rotation": {
                        "roll": -0.002899169921875,
                        "pitch": 0.3635026514530182,
                        "yaw": 179.7227783203125
                    }
                },
                "velocity": {
                    "x": -1.2017383575439453,
                    "y": -0.011472443118691444,
                    "z": 0.005684442352503538
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.086243629455566,
                "transform": {
                    "location": {
                        "x": 688.1714477539062,
                        "y": 4290.19970703125,
                        "z": 369.7576599121094
                    },
                    "rotation": {
                        "roll": 0.000983565580099821,
                        "pitch": 0.3069896697998047,
                        "yaw": 179.66416931152344
                    }
                },
                "velocity": {
                    "x": -9.08594036102295,
                    "y": 0.052459776401519775,
                    "z": 0.05245815962553024
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.415345668792725,
                "transform": {
                    "location": {
                        "x": 669.2780151367188,
                        "y": 4290.31005859375,
                        "z": 369.86175537109375
                    },
                    "rotation": {
                        "roll": -0.0017700196476653218,
                        "pitch": 0.42489922046661377,
                        "yaw": 179.36866760253906
                    }
                },
                "velocity": {
                    "x": -6.4151177406311035,
                    "y": 0.040096256881952286,
                    "z": 0.03630825877189636
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.042893409729004,
                "transform": {
                    "location": {
                        "x": 650.2325439453125,
                        "y": 4290.42333984375,
                        "z": 369.9957580566406
                    },
                    "rotation": {
                        "roll": 0.000483899173559621,
                        "pitch": 0.30628615617752075,
                        "yaw": 179.6473388671875
                    }
                },
                "velocity": {
                    "x": -8.042634963989258,
                    "y": 0.049366824328899384,
                    "z": 0.041652631014585495
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37625,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.242794036865234,
                "transform": {
                    "location": {
                        "x": 706.3463134765625,
                        "y": 4290.09228515625,
                        "z": 369.6444091796875
                    },
                    "rotation": {
                        "roll": -0.0003356932138558477,
                        "pitch": 0.537850022315979,
                        "yaw": 179.6659393310547
                    }
                },
                "velocity": {
                    "x": -8.242511749267578,
                    "y": 0.04807695373892784,
                    "z": 0.04836401715874672
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9999114274978638,
        "expert_target_speed": 0,
        "target_point": [
            25.536147054794178,
            5.49372283117651
        ],
        "target_point_next": [
            75.95110618815534,
            13.196272796033028
        ]
    },
    "225": {
        "acceleration": [
            7.063465118408203,
            -1.446371078491211,
            -0.05115680396556854
        ],
        "angular_velocity": [
            -0.5857157707214355,
            -0.2839703857898712,
            4.705285549163818
        ],
        "forward_vector": [
            -0.9885103106498718,
            0.15093562006950378,
            -0.008114009164273739
        ],
        "right_vector": [
            -0.15093694627285004,
            -0.9885432720184326,
            -0.0004510063154157251
        ],
        "location": [
            654.4673461914062,
            4289.140625,
            369.93756103515625
        ],
        "rotation": [
            0.02584161050617695,
            -0.4649036228656769,
            171.3185577392578
        ],
        "velocity": [
            -7.676124572753906,
            1.1432265043258667,
            0.04059114307165146
        ],
        "speed": 7.7607896052289345,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 6.37416410446167,
        "front_vehicle_info": {
            "id": 37511,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                648.2263793945312,
                4290.43505859375,
                370.0064392089844
            ],
            "velocity": [
                -8.007905960083008,
                0.047861915081739426,
                0.041133154183626175
            ],
            "speed_kmh": 28.829356665039974,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 37661,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 575.9510498046875,
                        "y": 4297.46337890625,
                        "z": 370.48626708984375
                    },
                    "rotation": {
                        "roll": 1.0422129131937297e-10,
                        "pitch": -0.23452819883823395,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37660,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 575.9318237304688,
                        "y": 4294.21337890625,
                        "z": 370.48626708984375
                    },
                    "rotation": {
                        "roll": 1.0422129131937297e-10,
                        "pitch": -0.23452819883823395,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37644,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.283733367919922,
                "transform": {
                    "location": {
                        "x": 617.0430908203125,
                        "y": 4297.31201171875,
                        "z": 370.1347961425781
                    },
                    "rotation": {
                        "roll": 0.003685472998768091,
                        "pitch": -0.2744438052177429,
                        "yaw": -0.206451416015625
                    }
                },
                "velocity": {
                    "x": 8.283567428588867,
                    "y": -0.03316914290189743,
                    "z": -0.040614333003759384
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37643,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.283661842346191,
                "transform": {
                    "location": {
                        "x": 617.023681640625,
                        "y": 4294.06201171875,
                        "z": 370.1347961425781
                    },
                    "rotation": {
                        "roll": 0.004484687000513077,
                        "pitch": -0.27435502409935,
                        "yaw": -0.2079162299633026
                    }
                },
                "velocity": {
                    "x": 8.283495903015137,
                    "y": -0.03304886445403099,
                    "z": -0.04069202393293381
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37628,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.052267074584961,
                "transform": {
                    "location": {
                        "x": 658.0617065429688,
                        "y": 4297.078125,
                        "z": 369.9149169921875
                    },
                    "rotation": {
                        "roll": -0.00012207032705191523,
                        "pitch": -0.3068530559539795,
                        "yaw": -0.3289794623851776
                    }
                },
                "velocity": {
                    "x": 8.052014350891113,
                    "y": -0.046571072190999985,
                    "z": -0.04360898211598396
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37627,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.069454193115234,
                "transform": {
                    "location": {
                        "x": 658.111083984375,
                        "y": 4293.82666015625,
                        "z": 369.9088439941406
                    },
                    "rotation": {
                        "roll": 0.0004042932123411447,
                        "pitch": -0.3075292408466339,
                        "yaw": -0.3222046196460724
                    }
                },
                "velocity": {
                    "x": 8.069197654724121,
                    "y": -0.047035135328769684,
                    "z": -0.043806541711091995
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 37624,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.0856351852417,
                "transform": {
                    "location": {
                        "x": 699.9937133789062,
                        "y": 4296.84375,
                        "z": 369.685546875
                    },
                    "rotation": {
                        "roll": -0.0003356934175826609,
                        "pitch": -0.3318447172641754,
                        "yaw": -0.1891174018383026
                    }
                },
                "velocity": {
                    "x": 8.085358619689941,
                    "y": -0.04853487014770508,
                    "z": -0.046083081513643265
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 37622,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.04253101348877,
                "transform": {
                    "location": {
                        "x": 700.6849365234375,
                        "y": 4293.578125,
                        "z": 369.68310546875
                    },
                    "rotation": {
                        "roll": 0.0005955388187430799,
                        "pitch": -0.3338254690170288,
                        "yaw": -0.3468627631664276
                    }
                },
                "velocity": {
                    "x": 8.042254447937012,
                    "y": -0.0487184077501297,
                    "z": -0.0456060916185379
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.019500732421875,
                "transform": {
                    "location": {
                        "x": 694.6604614257812,
                        "y": 4286.91064453125,
                        "z": 369.71185302734375
                    },
                    "rotation": {
                        "roll": -0.00042724606464616954,
                        "pitch": 0.31082141399383545,
                        "yaw": 179.66610717773438
                    }
                },
                "velocity": {
                    "x": -10.019158363342285,
                    "y": 0.05915514752268791,
                    "z": 0.057949285954236984
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.299125671386719,
                "transform": {
                    "location": {
                        "x": 674.8119506835938,
                        "y": 4287.02685546875,
                        "z": 369.8355407714844
                    },
                    "rotation": {
                        "roll": 0.003109758021309972,
                        "pitch": -0.02340022660791874,
                        "yaw": 179.6270751953125
                    }
                },
                "velocity": {
                    "x": -9.298810005187988,
                    "y": 0.056892260909080505,
                    "z": 0.05139341205358505
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.010533211752772331,
                "transform": {
                    "location": {
                        "x": 612.7106323242188,
                        "y": 4287.4091796875,
                        "z": 370.1526184082031
                    },
                    "rotation": {
                        "roll": 0.005980867892503738,
                        "pitch": -1.3507654666900635,
                        "yaw": 179.7981719970703
                    }
                },
                "velocity": {
                    "x": 0.010484661906957626,
                    "y": -1.985065182452672e-06,
                    "z": -0.001010150765068829
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.046473264694214,
                "transform": {
                    "location": {
                        "x": 602.0694580078125,
                        "y": 4287.55126953125,
                        "z": 370.2345886230469
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": 0.36453402042388916,
                        "yaw": 179.9307098388672
                    }
                },
                "velocity": {
                    "x": -2.046355962753296,
                    "y": -0.019635183736681938,
                    "z": 0.009693078696727753
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.153657913208008,
                "transform": {
                    "location": {
                        "x": 686.04638671875,
                        "y": 4290.21240234375,
                        "z": 369.7689514160156
                    },
                    "rotation": {
                        "roll": 0.000615812954492867,
                        "pitch": 0.4030972421169281,
                        "yaw": 179.6383514404297
                    }
                },
                "velocity": {
                    "x": -8.153376579284668,
                    "y": 0.048599302768707275,
                    "z": 0.04707888513803482
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.358691692352295,
                "transform": {
                    "location": {
                        "x": 667.9546508789062,
                        "y": 4290.3193359375,
                        "z": 369.8676452636719
                    },
                    "rotation": {
                        "roll": 0.0010331498924642801,
                        "pitch": 0.5744120478630066,
                        "yaw": 179.642578125
                    }
                },
                "velocity": {
                    "x": -3.3586413860321045,
                    "y": 0.008895814418792725,
                    "z": 0.01609906181693077
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.00815486907959,
                "transform": {
                    "location": {
                        "x": 648.2263793945312,
                        "y": 4290.43505859375,
                        "z": 370.0064392089844
                    },
                    "rotation": {
                        "roll": -0.0006103513296693563,
                        "pitch": 0.30557581782341003,
                        "yaw": 179.656982421875
                    }
                },
                "velocity": {
                    "x": -8.007905960083008,
                    "y": 0.047861915081739426,
                    "z": 0.041133154183626175
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37625,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.170936584472656,
                "transform": {
                    "location": {
                        "x": 704.1339721679688,
                        "y": 4290.10498046875,
                        "z": 369.6567077636719
                    },
                    "rotation": {
                        "roll": 0.0024493620730936527,
                        "pitch": 0.7004700303077698,
                        "yaw": 179.66482543945312
                    }
                },
                "velocity": {
                    "x": -9.17061996459961,
                    "y": 0.05478799343109131,
                    "z": 0.0529482364654541
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9989770650863647,
        "expert_target_speed": 0,
        "target_point": [
            23.390941575608814,
            5.3423289663243745
        ],
        "target_point_next": [
            73.85119798971502,
            12.74232241241888
        ]
    },
    "230": {
        "acceleration": [
            10.642242431640625,
            -1.8309557437896729,
            -0.06694294512271881
        ],
        "angular_velocity": [
            -0.4154946804046631,
            -0.7636826634407043,
            1.0348107814788818
        ],
        "forward_vector": [
            -0.9901092648506165,
            0.14011460542678833,
            -0.007175502832978964
        ],
        "right_vector": [
            -0.14012973010540009,
            -0.9901317358016968,
            0.0016489856643602252
        ],
        "location": [
            652.741455078125,
            4289.38623046875,
            369.9465637207031
        ],
        "rotation": [
            -0.09448239207267761,
            -0.41112956404685974,
            171.9453125
        ],
        "velocity": [
            -6.075063228607178,
            0.8161032795906067,
            0.03266778960824013
        ],
        "speed": 6.129634393219028,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 6.60765266418457,
        "front_vehicle_info": {
            "id": 37511,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                646.2198486328125,
                4290.44677734375,
                370.0169982910156
            ],
            "velocity": [
                -8.04297161102295,
                0.04760044068098068,
                0.041617050766944885
            ],
            "speed_kmh": 28.955592480745217,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 37661,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 578.0328979492188,
                        "y": 4297.451171875,
                        "z": 370.4196472167969
                    },
                    "rotation": {
                        "roll": 5.211066994581515e-11,
                        "pitch": -0.24142667651176453,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37660,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 578.0137329101562,
                        "y": 4294.201171875,
                        "z": 370.4196472167969
                    },
                    "rotation": {
                        "roll": 5.211066994581515e-11,
                        "pitch": -0.24142667651176453,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37644,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.063952445983887,
                "transform": {
                    "location": {
                        "x": 619.0853881835938,
                        "y": 4297.30322265625,
                        "z": 370.125
                    },
                    "rotation": {
                        "roll": 0.005264717154204845,
                        "pitch": -0.2789585590362549,
                        "yaw": -0.2617187201976776
                    }
                },
                "velocity": {
                    "x": 8.063763618469238,
                    "y": -0.03798046335577965,
                    "z": -0.04006741940975189
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37643,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.064473152160645,
                "transform": {
                    "location": {
                        "x": 619.0659790039062,
                        "y": 4294.052734375,
                        "z": 370.125
                    },
                    "rotation": {
                        "roll": 0.00515801552683115,
                        "pitch": -0.2789244055747986,
                        "yaw": -0.2616576850414276
                    }
                },
                "velocity": {
                    "x": 8.064282417297363,
                    "y": -0.038268521428108215,
                    "z": -0.040167901664972305
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37628,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.087182998657227,
                "transform": {
                    "location": {
                        "x": 660.07958984375,
                        "y": 4297.06591796875,
                        "z": 369.9040832519531
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": -0.30990615487098694,
                        "yaw": -0.3349914252758026
                    }
                },
                "velocity": {
                    "x": 8.086913108825684,
                    "y": -0.04823063686490059,
                    "z": -0.045163869857788086
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37627,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.027982711791992,
                "transform": {
                    "location": {
                        "x": 660.1229248046875,
                        "y": 4293.81494140625,
                        "z": 369.8980407714844
                    },
                    "rotation": {
                        "roll": 0.0015763823175802827,
                        "pitch": -0.3092982769012451,
                        "yaw": -0.3251037299633026
                    }
                },
                "velocity": {
                    "x": 8.027729034423828,
                    "y": -0.04550060257315636,
                    "z": -0.04476763680577278
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 37624,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.021122932434082,
                "transform": {
                    "location": {
                        "x": 702.0067749023438,
                        "y": 4296.83154296875,
                        "z": 369.67388916015625
                    },
                    "rotation": {
                        "roll": -0.00238037109375,
                        "pitch": -0.33370935916900635,
                        "yaw": -0.1922302097082138
                    }
                },
                "velocity": {
                    "x": 8.020854949951172,
                    "y": -0.047135863453149796,
                    "z": -0.04566485434770584
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 37622,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.043803215026855,
                "transform": {
                    "location": {
                        "x": 702.6956176757812,
                        "y": 4293.56591796875,
                        "z": 369.6714782714844
                    },
                    "rotation": {
                        "roll": 0.001113646081648767,
                        "pitch": -0.33284875750541687,
                        "yaw": -0.3469543159008026
                    }
                },
                "velocity": {
                    "x": 8.043529510498047,
                    "y": -0.048664193600416183,
                    "z": -0.0451311394572258
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.671133995056152,
                "transform": {
                    "location": {
                        "x": 692.3314208984375,
                        "y": 4286.92431640625,
                        "z": 369.7252197265625
                    },
                    "rotation": {
                        "roll": -0.00018310535233467817,
                        "pitch": 0.2984177768230438,
                        "yaw": 179.65809631347656
                    }
                },
                "velocity": {
                    "x": -8.6708402633667,
                    "y": 0.05102597922086716,
                    "z": 0.04995312541723251
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.302626609802246,
                "transform": {
                    "location": {
                        "x": 672.6412353515625,
                        "y": 4287.04052734375,
                        "z": 369.8469543457031
                    },
                    "rotation": {
                        "roll": 0.0017892501782625914,
                        "pitch": 0.04810502007603645,
                        "yaw": 179.65850830078125
                    }
                },
                "velocity": {
                    "x": -8.302346229553223,
                    "y": 0.05118775740265846,
                    "z": 0.045117903500795364
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.0068532228469849,
                "transform": {
                    "location": {
                        "x": 612.556884765625,
                        "y": 4287.40966796875,
                        "z": 370.14874267578125
                    },
                    "rotation": {
                        "roll": 0.0016458460595458746,
                        "pitch": -0.12102411687374115,
                        "yaw": 179.78915405273438
                    }
                },
                "velocity": {
                    "x": -1.006829857826233,
                    "y": 0.003621552139520645,
                    "z": 0.005833177361637354
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.967622995376587,
                "transform": {
                    "location": {
                        "x": 601.4197998046875,
                        "y": 4287.54638671875,
                        "z": 370.23760986328125
                    },
                    "rotation": {
                        "roll": -0.0008850095910020173,
                        "pitch": 0.3722043037414551,
                        "yaw": -179.89138793945312
                    }
                },
                "velocity": {
                    "x": -2.9674484729766846,
                    "y": -0.028890511021018028,
                    "z": 0.014134960249066353
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.120512962341309,
                "transform": {
                    "location": {
                        "x": 683.9953002929688,
                        "y": 4290.22412109375,
                        "z": 369.7810974121094
                    },
                    "rotation": {
                        "roll": -0.0001831054105423391,
                        "pitch": 0.3351505398750305,
                        "yaw": 179.67909240722656
                    }
                },
                "velocity": {
                    "x": -8.12024211883545,
                    "y": 0.048428766429424286,
                    "z": 0.045260973274707794
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.4436515271663666,
                "transform": {
                    "location": {
                        "x": 667.66748046875,
                        "y": 4290.3203125,
                        "z": 369.8685607910156
                    },
                    "rotation": {
                        "roll": -9.155279258266091e-05,
                        "pitch": 0.6559576988220215,
                        "yaw": 179.6326446533203
                    }
                },
                "velocity": {
                    "x": -0.4436355233192444,
                    "y": 0.002391891786828637,
                    "z": 0.002911262447014451
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.043220520019531,
                "transform": {
                    "location": {
                        "x": 646.2198486328125,
                        "y": 4290.44677734375,
                        "z": 370.0169982910156
                    },
                    "rotation": {
                        "roll": 6.899499567225575e-05,
                        "pitch": 0.30464690923690796,
                        "yaw": 179.66030883789062
                    }
                },
                "velocity": {
                    "x": -8.04297161102295,
                    "y": 0.04760044068098068,
                    "z": 0.041617050766944885
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37625,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.306047439575195,
                "transform": {
                    "location": {
                        "x": 701.9612426757812,
                        "y": 4290.1181640625,
                        "z": 369.6708984375
                    },
                    "rotation": {
                        "roll": -0.0018005366437137127,
                        "pitch": 0.24841396510601044,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": -8.305760383605957,
                    "y": 0.049082860350608826,
                    "z": 0.04849200323224068
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9041737914085388,
        "expert_target_speed": 0,
        "target_point": [
            21.704702657546694,
            5.087492936316261
        ],
        "target_point_next": [
            72.24288776534921,
            11.935063774874674
        ]
    },
    "235": {
        "acceleration": [
            -0.7082319259643555,
            0.051964521408081055,
            0.01797255128622055
        ],
        "angular_velocity": [
            0.4683501422405243,
            3.104519844055176,
            0.41301581263542175
        ],
        "forward_vector": [
            -0.9911682605743408,
            0.13203099370002747,
            -0.012380163185298443
        ],
        "right_vector": [
            -0.13205532729625702,
            -0.9912416934967041,
            0.0011658422881737351
        ],
        "location": [
            651.7035522460938,
            4289.525390625,
            369.9529113769531
        ],
        "rotation": [
            -0.066802978515625,
            -0.7093492746353149,
            172.41244506835938
        ],
        "velocity": [
            -3.652383327484131,
            0.47629955410957336,
            0.019155606627464294
        ],
        "speed": 3.6833090063323537,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 7.54801607131958,
        "front_vehicle_info": {
            "id": 37511,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                644.2138061523438,
                4290.45849609375,
                370.0274963378906
            ],
            "velocity": [
                -8.006783485412598,
                0.05029965937137604,
                0.04071804881095886
            ],
            "speed_kmh": 28.82536203720086,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 37661,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 580.114501953125,
                        "y": 4297.4384765625,
                        "z": 370.3385314941406
                    },
                    "rotation": {
                        "roll": 5.211066994581515e-11,
                        "pitch": -0.24142667651176453,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37660,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 580.0953369140625,
                        "y": 4294.1884765625,
                        "z": 370.3385314941406
                    },
                    "rotation": {
                        "roll": 5.211066994581515e-11,
                        "pitch": -0.24142667651176453,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37644,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.289348602294922,
                "transform": {
                    "location": {
                        "x": 621.1307373046875,
                        "y": 4297.29345703125,
                        "z": 370.1149597167969
                    },
                    "rotation": {
                        "roll": 0.0014508917229250073,
                        "pitch": -0.2810690999031067,
                        "yaw": -0.290618896484375
                    }
                },
                "velocity": {
                    "x": 8.28913402557373,
                    "y": -0.04309104382991791,
                    "z": -0.041218601167201996
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37643,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.289361953735352,
                "transform": {
                    "location": {
                        "x": 621.111328125,
                        "y": 4294.04345703125,
                        "z": 370.1149597167969
                    },
                    "rotation": {
                        "roll": 0.0014298777095973492,
                        "pitch": -0.28143110871315,
                        "yaw": -0.2859801948070526
                    }
                },
                "velocity": {
                    "x": 8.289154052734375,
                    "y": -0.041867878288030624,
                    "z": -0.04111751914024353
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37628,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.049306869506836,
                "transform": {
                    "location": {
                        "x": 662.0963134765625,
                        "y": 4297.0546875,
                        "z": 369.8931884765625
                    },
                    "rotation": {
                        "roll": 0.00020816917822230607,
                        "pitch": -0.3097149133682251,
                        "yaw": -0.338592529296875
                    }
                },
                "velocity": {
                    "x": 8.04904556274414,
                    "y": -0.04750599339604378,
                    "z": -0.04414282739162445
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37627,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.075929641723633,
                "transform": {
                    "location": {
                        "x": 662.1362915039062,
                        "y": 4293.80322265625,
                        "z": 369.88714599609375
                    },
                    "rotation": {
                        "roll": 0.0005468418239615858,
                        "pitch": -0.30938705801963806,
                        "yaw": -0.3290404975414276
                    }
                },
                "velocity": {
                    "x": 8.075677871704102,
                    "y": -0.046419400721788406,
                    "z": -0.04364171251654625
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 37624,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.085803031921387,
                "transform": {
                    "location": {
                        "x": 704.0204467773438,
                        "y": 4296.81982421875,
                        "z": 369.6622314453125
                    },
                    "rotation": {
                        "roll": -0.0018615720327943563,
                        "pitch": -0.33224770426750183,
                        "yaw": -0.1881408542394638
                    }
                },
                "velocity": {
                    "x": 8.085530281066895,
                    "y": -0.04779842868447304,
                    "z": -0.046023592352867126
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 37622,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.042243957519531,
                "transform": {
                    "location": {
                        "x": 704.7062377929688,
                        "y": 4293.55419921875,
                        "z": 369.6598815917969
                    },
                    "rotation": {
                        "roll": -0.00027465829043649137,
                        "pitch": -0.3347748816013336,
                        "yaw": -0.3467406630516052
                    }
                },
                "velocity": {
                    "x": 8.04196548461914,
                    "y": -0.0487053245306015,
                    "z": -0.04576782137155533
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.391386032104492,
                "transform": {
                    "location": {
                        "x": 690.2313842773438,
                        "y": 4286.93603515625,
                        "z": 369.737060546875
                    },
                    "rotation": {
                        "roll": 0.0001347983197774738,
                        "pitch": 0.31457117199897766,
                        "yaw": 179.66416931152344
                    }
                },
                "velocity": {
                    "x": -8.391097068786621,
                    "y": 0.049601342529058456,
                    "z": 0.048846930265426636
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.583890914916992,
                "transform": {
                    "location": {
                        "x": 670.55029296875,
                        "y": 4287.05322265625,
                        "z": 369.85601806640625
                    },
                    "rotation": {
                        "roll": 0.0001563012774568051,
                        "pitch": 0.3471511900424957,
                        "yaw": 179.6392364501953
                    }
                },
                "velocity": {
                    "x": -8.583612442016602,
                    "y": 0.05235537886619568,
                    "z": 0.0451071634888649
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.8845746517181396,
                "transform": {
                    "location": {
                        "x": 612.1823120117188,
                        "y": 4287.4111328125,
                        "z": 370.1487121582031
                    },
                    "rotation": {
                        "roll": 0.0008450489258393645,
                        "pitch": 0.4155828356742859,
                        "yaw": 179.7919921875
                    }
                },
                "velocity": {
                    "x": -1.884543538093567,
                    "y": 0.007627228740602732,
                    "z": 0.0076691340655088425
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.188067674636841,
                "transform": {
                    "location": {
                        "x": 600.765625,
                        "y": 4287.54248046875,
                        "z": 370.2418212890625
                    },
                    "rotation": {
                        "roll": 0.0067741344682872295,
                        "pitch": 0.23541611433029175,
                        "yaw": -179.82113647460938
                    }
                },
                "velocity": {
                    "x": -2.188030481338501,
                    "y": -0.004735786933451891,
                    "z": 0.01186820026487112
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.51823616027832,
                "transform": {
                    "location": {
                        "x": 682.1148071289062,
                        "y": 4290.234375,
                        "z": 369.7906799316406
                    },
                    "rotation": {
                        "roll": -0.0010375974234193563,
                        "pitch": 0.4455878436565399,
                        "yaw": 179.51065063476562
                    }
                },
                "velocity": {
                    "x": -6.518016338348389,
                    "y": 0.03944024816155434,
                    "z": 0.03614833578467369
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.5099551677703857,
                "transform": {
                    "location": {
                        "x": 667.4048461914062,
                        "y": 4290.322265625,
                        "z": 369.87310791015625
                    },
                    "rotation": {
                        "roll": 0.00017353595467284322,
                        "pitch": 0.2751609981060028,
                        "yaw": 179.65530395507812
                    }
                },
                "velocity": {
                    "x": -1.5099074840545654,
                    "y": 0.009482992812991142,
                    "z": 0.007346238940954208
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.007044792175293,
                "transform": {
                    "location": {
                        "x": 644.2138061523438,
                        "y": 4290.45849609375,
                        "z": 370.0274963378906
                    },
                    "rotation": {
                        "roll": 0.0018420907435938716,
                        "pitch": 0.30005019903182983,
                        "yaw": 179.65536499023438
                    }
                },
                "velocity": {
                    "x": -8.006783485412598,
                    "y": 0.05029965937137604,
                    "z": 0.04071804881095886
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37625,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.358172416687012,
                "transform": {
                    "location": {
                        "x": 700.0123291015625,
                        "y": 4290.12939453125,
                        "z": 369.68310546875
                    },
                    "rotation": {
                        "roll": -0.0009460447472520173,
                        "pitch": 0.013680867850780487,
                        "yaw": 179.66258239746094
                    }
                },
                "velocity": {
                    "x": -7.357921123504639,
                    "y": 0.043349239975214005,
                    "z": 0.04266909509897232
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.31002360582351685,
        "expert_target_speed": 10.0,
        "target_point": [
            20.69826890705949,
            4.911264728584606
        ],
        "target_point_next": [
            71.29060173225858,
            11.346576662272923
        ]
    },
    "240": {
        "acceleration": [
            -5.236883163452148,
            0.6570971012115479,
            0.02965867519378662
        ],
        "angular_velocity": [
            0.3745083212852478,
            2.999023675918579,
            0.39309319853782654
        ],
        "forward_vector": [
            -0.9914653301239014,
            0.13034240901470184,
            0.00272953137755394
        ],
        "right_vector": [
            -0.13034012913703918,
            -0.9914688467979431,
            0.0009965506615117192
        ],
        "location": [
            650.6820068359375,
            4289.65869140625,
            369.9552001953125
        ],
        "rotation": [
            -0.05709837004542351,
            0.15639083087444305,
            172.51058959960938
        ],
        "velocity": [
            -4.595208168029785,
            0.5942323803901672,
            0.024992598220705986
        ],
        "speed": 4.6334706462253346,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 8.513899803161621,
        "front_vehicle_info": {
            "id": 37511,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                642.207275390625,
                4290.47021484375,
                370.0379943847656
            ],
            "velocity": [
                -8.04334545135498,
                0.048810895532369614,
                0.04195956140756607
            ],
            "speed_kmh": 28.95697078579891,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 37661,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.06423568725586,
                "transform": {
                    "location": {
                        "x": 582.1844482421875,
                        "y": 4297.4267578125,
                        "z": 370.2986145019531
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": -0.25332486629486084,
                        "yaw": -0.3164978325366974
                    }
                },
                "velocity": {
                    "x": 8.063838005065918,
                    "y": -0.025109222158789635,
                    "z": -0.07600178569555283
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37660,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.116525650024414,
                "transform": {
                    "location": {
                        "x": 582.1547241210938,
                        "y": 4294.17822265625,
                        "z": 370.2824401855469
                    },
                    "rotation": {
                        "roll": -0.0047607421875,
                        "pitch": -0.25049033761024475,
                        "yaw": -0.2717590034008026
                    }
                },
                "velocity": {
                    "x": 8.11555004119873,
                    "y": -0.010150003246963024,
                    "z": -0.1253843903541565
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37644,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.0701904296875,
                "transform": {
                    "location": {
                        "x": 623.1744995117188,
                        "y": 4297.2822265625,
                        "z": 370.1049499511719
                    },
                    "rotation": {
                        "roll": 0.001343939220532775,
                        "pitch": -0.2880563735961914,
                        "yaw": -0.3105162978172302
                    }
                },
                "velocity": {
                    "x": 8.069973945617676,
                    "y": -0.04368385672569275,
                    "z": -0.0397324301302433
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37643,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.070138931274414,
                "transform": {
                    "location": {
                        "x": 623.155029296875,
                        "y": 4294.0322265625,
                        "z": 370.1049499511719
                    },
                    "rotation": {
                        "roll": 0.0024944802280515432,
                        "pitch": -0.287994921207428,
                        "yaw": -0.3083495497703552
                    }
                },
                "velocity": {
                    "x": 8.06992244720459,
                    "y": -0.04360657185316086,
                    "z": -0.03990853577852249
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37628,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.08560848236084,
                "transform": {
                    "location": {
                        "x": 664.1130981445312,
                        "y": 4297.04296875,
                        "z": 369.8822937011719
                    },
                    "rotation": {
                        "roll": -0.0011291500413790345,
                        "pitch": -0.3105755150318146,
                        "yaw": -0.340087890625
                    }
                },
                "velocity": {
                    "x": 8.085336685180664,
                    "y": -0.048832476139068604,
                    "z": -0.04473865404725075
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37627,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.02314567565918,
                "transform": {
                    "location": {
                        "x": 664.14794921875,
                        "y": 4293.791015625,
                        "z": 369.8762512207031
                    },
                    "rotation": {
                        "roll": -0.0011596677359193563,
                        "pitch": -0.3115863800048828,
                        "yaw": -0.330810546875
                    }
                },
                "velocity": {
                    "x": 8.02287483215332,
                    "y": -0.047866109758615494,
                    "z": -0.04540422186255455
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 37624,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.020905494689941,
                "transform": {
                    "location": {
                        "x": 706.0333251953125,
                        "y": 4296.80810546875,
                        "z": 369.65057373046875
                    },
                    "rotation": {
                        "roll": 0.001279657008126378,
                        "pitch": -0.334993451833725,
                        "yaw": -0.1847839206457138
                    }
                },
                "velocity": {
                    "x": 8.020624160766602,
                    "y": -0.04934755340218544,
                    "z": -0.045546114444732666
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 37622,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.045443534851074,
                "transform": {
                    "location": {
                        "x": 706.7171630859375,
                        "y": 4293.54248046875,
                        "z": 369.648193359375
                    },
                    "rotation": {
                        "roll": 0.00010318298154743388,
                        "pitch": -0.3339211046695709,
                        "yaw": -0.3498535454273224
                    }
                },
                "velocity": {
                    "x": 8.04516315460205,
                    "y": -0.0491870641708374,
                    "z": -0.04581662639975548
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.909210205078125,
                "transform": {
                    "location": {
                        "x": 688.0739135742188,
                        "y": 4286.94921875,
                        "z": 369.74920654296875
                    },
                    "rotation": {
                        "roll": 0.00039478117832913995,
                        "pitch": 0.3327941298484802,
                        "yaw": 179.6560516357422
                    }
                },
                "velocity": {
                    "x": -8.908917427062988,
                    "y": 0.05298060178756714,
                    "z": 0.048986099660396576
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.65519905090332,
                "transform": {
                    "location": {
                        "x": 668.271240234375,
                        "y": 4287.0673828125,
                        "z": 369.8664245605469
                    },
                    "rotation": {
                        "roll": -0.0012512204702943563,
                        "pitch": 0.5773558616638184,
                        "yaw": 179.66253662109375
                    }
                },
                "velocity": {
                    "x": -9.654884338378906,
                    "y": 0.05718371644616127,
                    "z": 0.052890412509441376
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.800836443901062,
                "transform": {
                    "location": {
                        "x": 611.656005859375,
                        "y": 4287.41357421875,
                        "z": 370.1511535644531
                    },
                    "rotation": {
                        "roll": -0.00024414058134425431,
                        "pitch": 0.4030221104621887,
                        "yaw": 179.82211303710938
                    }
                },
                "velocity": {
                    "x": -1.8008081912994385,
                    "y": 0.005549237597733736,
                    "z": 0.008433923125267029
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0011127250036224723,
                "transform": {
                    "location": {
                        "x": 600.6405639648438,
                        "y": 4287.5419921875,
                        "z": 370.24371337890625
                    },
                    "rotation": {
                        "roll": 0.0023521222174167633,
                        "pitch": 0.09322524815797806,
                        "yaw": -179.8629608154297
                    }
                },
                "velocity": {
                    "x": 0.0010186993749812245,
                    "y": 0.0003260091179981828,
                    "z": 0.0003068003279622644
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.0758472681045532,
                "transform": {
                    "location": {
                        "x": 681.137939453125,
                        "y": 4290.236328125,
                        "z": 369.7930908203125
                    },
                    "rotation": {
                        "roll": -0.011840816587209702,
                        "pitch": 0.7899113297462463,
                        "yaw": 178.5150604248047
                    }
                },
                "velocity": {
                    "x": -1.0753780603408813,
                    "y": 0.031224820762872696,
                    "z": 0.005859184078872204
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.346125841140747,
                "transform": {
                    "location": {
                        "x": 666.9202880859375,
                        "y": 4290.32470703125,
                        "z": 369.8760986328125
                    },
                    "rotation": {
                        "roll": 5.684751886292361e-05,
                        "pitch": 0.22591532766819,
                        "yaw": 179.66104125976562
                    }
                },
                "velocity": {
                    "x": -2.3460490703582764,
                    "y": 0.013861858285963535,
                    "z": 0.012956180609762669
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.04360294342041,
                "transform": {
                    "location": {
                        "x": 642.207275390625,
                        "y": 4290.47021484375,
                        "z": 370.0379943847656
                    },
                    "rotation": {
                        "roll": 0.001123629743233323,
                        "pitch": 0.30143672227859497,
                        "yaw": 179.65199279785156
                    }
                },
                "velocity": {
                    "x": -8.04334545135498,
                    "y": 0.048810895532369614,
                    "z": 0.04195956140756607
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37625,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.737974643707275,
                "transform": {
                    "location": {
                        "x": 698.148681640625,
                        "y": 4290.1416015625,
                        "z": 369.6928405761719
                    },
                    "rotation": {
                        "roll": -0.0014953609788790345,
                        "pitch": 0.28295424580574036,
                        "yaw": 179.66233825683594
                    }
                },
                "velocity": {
                    "x": -7.737717628479004,
                    "y": 0.045658912509679794,
                    "z": 0.04352889955043793
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.13326863944530487,
        "expert_target_speed": 10.0,
        "target_point": [
            19.676445160016115,
            4.874818394156648
        ],
        "target_point_next": [
            70.27972616527951,
            11.223466429914865
        ]
    },
    "245": {
        "acceleration": [
            0.2834892272949219,
            -0.2158832550048828,
            -0.012119300663471222
        ],
        "angular_velocity": [
            -0.15446758270263672,
            -0.5374076962471008,
            1.1239936351776123
        ],
        "forward_vector": [
            -0.9917809963226318,
            0.1276085078716278,
            0.009304150938987732
        ],
        "right_vector": [
            -0.1276024729013443,
            -0.9918246269226074,
            0.0012420440325513482
        ],
        "location": [
            649.3851318359375,
            4289.82421875,
            369.9610595703125
        ],
        "rotation": [
            -0.0711669847369194,
            0.5330962538719177,
            172.6682586669922
        ],
        "velocity": [
            -5.352710247039795,
            0.6653061509132385,
            0.028906840831041336
        ],
        "speed": 5.3938983363804525,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 9.208017349243164,
        "front_vehicle_info": {
            "id": 37511,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                640.2010498046875,
                4290.48193359375,
                370.0484619140625
            ],
            "velocity": [
                -8.007888793945312,
                0.04866432026028633,
                0.04062650725245476
            ],
            "speed_kmh": 28.8293029673451,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 37661,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.087998390197754,
                "transform": {
                    "location": {
                        "x": 584.203369140625,
                        "y": 4297.42529296875,
                        "z": 370.279052734375
                    },
                    "rotation": {
                        "roll": -0.00665283203125,
                        "pitch": -0.24838665127754211,
                        "yaw": 0.044166289269924164
                    }
                },
                "velocity": {
                    "x": 8.08773136138916,
                    "y": 0.030471190810203552,
                    "z": -0.05814404785633087
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37660,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.079718589782715,
                "transform": {
                    "location": {
                        "x": 584.1791381835938,
                        "y": 4294.17724609375,
                        "z": 370.2726135253906
                    },
                    "rotation": {
                        "roll": -0.00653076171875,
                        "pitch": -0.2473689466714859,
                        "yaw": 0.08163690567016602
                    }
                },
                "velocity": {
                    "x": 8.079656600952148,
                    "y": 0.026030158624053,
                    "z": -0.01775421015918255
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37644,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.295995712280273,
                "transform": {
                    "location": {
                        "x": 625.2213745117188,
                        "y": 4297.2705078125,
                        "z": 370.09478759765625
                    },
                    "rotation": {
                        "roll": 0.0011923848651349545,
                        "pitch": -0.2827698290348053,
                        "yaw": -0.31787109375
                    }
                },
                "velocity": {
                    "x": 8.29576301574707,
                    "y": -0.046900492161512375,
                    "z": -0.04066232591867447
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37643,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.295577049255371,
                "transform": {
                    "location": {
                        "x": 625.201904296875,
                        "y": 4294.0205078125,
                        "z": 370.09478759765625
                    },
                    "rotation": {
                        "roll": 0.0008095386438071728,
                        "pitch": -0.28268784284591675,
                        "yaw": -0.3201293647289276
                    }
                },
                "velocity": {
                    "x": 8.2953462600708,
                    "y": -0.046114481985569,
                    "z": -0.04135527089238167
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37628,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051305770874023,
                "transform": {
                    "location": {
                        "x": 666.130126953125,
                        "y": 4297.03125,
                        "z": 369.8713073730469
                    },
                    "rotation": {
                        "roll": 0.00027625233633443713,
                        "pitch": -0.3135671317577362,
                        "yaw": -0.3425903022289276
                    }
                },
                "velocity": {
                    "x": 8.051040649414062,
                    "y": -0.0481044240295887,
                    "z": -0.04434969648718834
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37627,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.078060150146484,
                "transform": {
                    "location": {
                        "x": 666.1609497070312,
                        "y": 4293.77978515625,
                        "z": 369.86529541015625
                    },
                    "rotation": {
                        "roll": 9.194498852593824e-05,
                        "pitch": -0.31399744749069214,
                        "yaw": -0.3328856825828552
                    }
                },
                "velocity": {
                    "x": 8.077799797058105,
                    "y": -0.046951260417699814,
                    "z": -0.04475859925150871
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 37624,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.085970878601074,
                "transform": {
                    "location": {
                        "x": 708.0469970703125,
                        "y": 4296.79638671875,
                        "z": 369.6388854980469
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": -0.33291706442832947,
                        "yaw": -0.1927184909582138
                    }
                },
                "velocity": {
                    "x": 8.08569622039795,
                    "y": -0.04755853861570358,
                    "z": -0.046724047511816025
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 37622,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.041207313537598,
                "transform": {
                    "location": {
                        "x": 708.7279052734375,
                        "y": 4293.53125,
                        "z": 369.6365051269531
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": -0.3345016539096832,
                        "yaw": -0.350616455078125
                    }
                },
                "velocity": {
                    "x": 8.040925979614258,
                    "y": -0.04932035505771637,
                    "z": -0.04567088931798935
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.644951820373535,
                "transform": {
                    "location": {
                        "x": 685.7532958984375,
                        "y": 4286.962890625,
                        "z": 369.7621765136719
                    },
                    "rotation": {
                        "roll": 1.042222488867317e-10,
                        "pitch": 0.34022536873817444,
                        "yaw": 179.65817260742188
                    }
                },
                "velocity": {
                    "x": -9.644628524780273,
                    "y": 0.05824867635965347,
                    "z": 0.05328141897916794
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.404208183288574,
                "transform": {
                    "location": {
                        "x": 665.7918701171875,
                        "y": 4287.08154296875,
                        "z": 369.8805236816406
                    },
                    "rotation": {
                        "roll": -0.00274658203125,
                        "pitch": 0.5162256956100464,
                        "yaw": 179.70008850097656
                    }
                },
                "velocity": {
                    "x": -10.40388011932373,
                    "y": 0.05983750522136688,
                    "z": 0.05703865736722946
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9301454424858093,
                "transform": {
                    "location": {
                        "x": 611.5101928710938,
                        "y": 4287.4140625,
                        "z": 370.1532287597656
                    },
                    "rotation": {
                        "roll": 0.0006863833987154067,
                        "pitch": 0.04810502007603645,
                        "yaw": 179.88768005371094
                    }
                },
                "velocity": {
                    "x": -0.9301339983940125,
                    "y": 0.0024832868948578835,
                    "z": 0.0039014816284179688
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.8258288502693176,
                "transform": {
                    "location": {
                        "x": 600.5267944335938,
                        "y": 4287.5419921875,
                        "z": 370.2425231933594
                    },
                    "rotation": {
                        "roll": 0.001579958712682128,
                        "pitch": 0.2924550175666809,
                        "yaw": -179.85435485839844
                    }
                },
                "velocity": {
                    "x": -0.8258184790611267,
                    "y": -0.002927228109911084,
                    "z": 0.002934675198048353
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.8493915796279907,
                "transform": {
                    "location": {
                        "x": 681.0457153320312,
                        "y": 4290.2373046875,
                        "z": 369.7965087890625
                    },
                    "rotation": {
                        "roll": -0.00433349609375,
                        "pitch": 0.44084087014198303,
                        "yaw": 178.45936584472656
                    }
                },
                "velocity": {
                    "x": -0.8493511080741882,
                    "y": 0.007025552447885275,
                    "z": 0.004409446846693754
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.306274652481079,
                "transform": {
                    "location": {
                        "x": 666.2119140625,
                        "y": 4290.3291015625,
                        "z": 369.8800354003906
                    },
                    "rotation": {
                        "roll": 6.407340697478503e-05,
                        "pitch": 0.21823818981647491,
                        "yaw": 179.65882873535156
                    }
                },
                "velocity": {
                    "x": -3.3061583042144775,
                    "y": 0.021003475412726402,
                    "z": 0.018107566982507706
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.008139610290527,
                "transform": {
                    "location": {
                        "x": 640.2010498046875,
                        "y": 4290.48193359375,
                        "z": 370.0484619140625
                    },
                    "rotation": {
                        "roll": 0.0014934686478227377,
                        "pitch": 0.3005692958831787,
                        "yaw": 179.65185546875
                    }
                },
                "velocity": {
                    "x": -8.007888793945312,
                    "y": 0.04866432026028633,
                    "z": 0.04062650725245476
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37625,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.987447261810303,
                "transform": {
                    "location": {
                        "x": 696.1314086914062,
                        "y": 4290.15283203125,
                        "z": 369.7038879394531
                    },
                    "rotation": {
                        "roll": -0.0005187987117096782,
                        "pitch": 0.4261764585971832,
                        "yaw": 179.66552734375
                    }
                },
                "velocity": {
                    "x": -7.987185001373291,
                    "y": 0.046550799161195755,
                    "z": 0.04496121406555176
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.05206954851746559,
        "expert_target_speed": 10.0,
        "target_point": [
            18.38238776342102,
            4.819337632538417
        ],
        "target_point_next": [
            69.00294457047491,
            11.02873445698258
        ]
    },
    "250": {
        "acceleration": [
            -6.059064865112305,
            0.31542181968688965,
            0.046156346797943115
        ],
        "angular_velocity": [
            -0.051116056740283966,
            1.210026502609253,
            2.7106876373291016
        ],
        "forward_vector": [
            -0.9927924871444702,
            0.11893711239099503,
            0.014733854681253433
        ],
        "right_vector": [
            -0.118918776512146,
            -0.9929016828536987,
            0.0021175139117985964
        ],
        "location": [
            647.861572265625,
            4290.0048828125,
            369.9679260253906
        ],
        "rotation": [
            -0.1213378757238388,
            0.8442181944847107,
            173.16848754882812
        ],
        "velocity": [
            -7.03535795211792,
            0.7890990972518921,
            0.03775143623352051
        ],
        "speed": 7.079473066529218,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 9.679768562316895,
        "front_vehicle_info": {
            "id": 37511,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                638.194580078125,
                4290.49365234375,
                370.0589294433594
            ],
            "velocity": [
                -8.042750358581543,
                0.048324327915906906,
                0.04124557226896286
            ],
            "speed_kmh": 28.954804647899035,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 37661,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.042051315307617,
                "transform": {
                    "location": {
                        "x": 586.2192993164062,
                        "y": 4297.43408203125,
                        "z": 370.2682189941406
                    },
                    "rotation": {
                        "roll": -0.00579833984375,
                        "pitch": -0.24896037578582764,
                        "yaw": 0.31512099504470825
                    }
                },
                "velocity": {
                    "x": 8.041805267333984,
                    "y": 0.05161745473742485,
                    "z": -0.03598421439528465
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37660,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.10710620880127,
                "transform": {
                    "location": {
                        "x": 586.2025756835938,
                        "y": 4294.18408203125,
                        "z": 370.2662048339844
                    },
                    "rotation": {
                        "roll": -0.005187987349927425,
                        "pitch": -0.24874864518642426,
                        "yaw": 0.3582412302494049
                    }
                },
                "velocity": {
                    "x": 8.106908798217773,
                    "y": 0.047156646847724915,
                    "z": -0.031222309917211533
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37644,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.0765380859375,
                "transform": {
                    "location": {
                        "x": 627.2667236328125,
                        "y": 4297.2587890625,
                        "z": 370.084716796875
                    },
                    "rotation": {
                        "roll": 0.0003521476173773408,
                        "pitch": -0.28647178411483765,
                        "yaw": -0.3251037299633026
                    }
                },
                "velocity": {
                    "x": 8.076309204101562,
                    "y": -0.04575426131486893,
                    "z": -0.04015494883060455
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37643,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.076827049255371,
                "transform": {
                    "location": {
                        "x": 627.2471923828125,
                        "y": 4294.0087890625,
                        "z": 370.084716796875
                    },
                    "rotation": {
                        "roll": 8.951008203439415e-05,
                        "pitch": -0.28609612584114075,
                        "yaw": -0.3250732123851776
                    }
                },
                "velocity": {
                    "x": 8.076597213745117,
                    "y": -0.045724380761384964,
                    "z": -0.04032329469919205
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37628,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.0840425491333,
                "transform": {
                    "location": {
                        "x": 668.1471557617188,
                        "y": 4297.01953125,
                        "z": 369.86029052734375
                    },
                    "rotation": {
                        "roll": -3.0517443519784138e-05,
                        "pitch": -0.3136969208717346,
                        "yaw": -0.34393310546875
                    }
                },
                "velocity": {
                    "x": 8.083767890930176,
                    "y": -0.04939622804522514,
                    "z": -0.04466019198298454
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37627,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.022747993469238,
                "transform": {
                    "location": {
                        "x": 668.1732788085938,
                        "y": 4293.76806640625,
                        "z": 369.8542785644531
                    },
                    "rotation": {
                        "roll": -0.00048828122089616954,
                        "pitch": -0.31390181183815,
                        "yaw": -0.3331908583641052
                    }
                },
                "velocity": {
                    "x": 8.022488594055176,
                    "y": -0.046631935983896255,
                    "z": -0.044520534574985504
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 37624,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.020503997802734,
                "transform": {
                    "location": {
                        "x": 710.0599975585938,
                        "y": 4296.7841796875,
                        "z": 369.6271667480469
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": -0.3362433612346649,
                        "yaw": -0.1753540188074112
                    }
                },
                "velocity": {
                    "x": 8.020233154296875,
                    "y": -0.04757964611053467,
                    "z": -0.04567708075046539
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 37622,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.04512882232666,
                "transform": {
                    "location": {
                        "x": 710.738525390625,
                        "y": 4293.51904296875,
                        "z": 369.6247863769531
                    },
                    "rotation": {
                        "roll": 0.0005169315845705569,
                        "pitch": -0.33435139060020447,
                        "yaw": -0.3505554497241974
                    }
                },
                "velocity": {
                    "x": 8.04485034942627,
                    "y": -0.04917588457465172,
                    "z": -0.04542268067598343
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.284974098205566,
                "transform": {
                    "location": {
                        "x": 683.2496948242188,
                        "y": 4286.978515625,
                        "z": 369.7762451171875
                    },
                    "rotation": {
                        "roll": 8.465751307085156e-05,
                        "pitch": 0.337643563747406,
                        "yaw": 179.65234375
                    }
                },
                "velocity": {
                    "x": -10.284632682800293,
                    "y": 0.06194642558693886,
                    "z": 0.056519098579883575
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.133395195007324,
                "transform": {
                    "location": {
                        "x": 663.1814575195312,
                        "y": 4287.09716796875,
                        "z": 369.8961181640625
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": 0.33032843470573425,
                        "yaw": 179.708984375
                    }
                },
                "velocity": {
                    "x": -10.133084297180176,
                    "y": 0.05714412033557892,
                    "z": 0.055124521255493164
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.701436161994934,
                "transform": {
                    "location": {
                        "x": 611.1641845703125,
                        "y": 4287.4150390625,
                        "z": 370.1534729003906
                    },
                    "rotation": {
                        "roll": 0.0019454732537269592,
                        "pitch": 0.4421181082725525,
                        "yaw": 179.84652709960938
                    }
                },
                "velocity": {
                    "x": -1.7014132738113403,
                    "y": 0.005698493216186762,
                    "z": 0.006753282621502876
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.522928237915039,
                "transform": {
                    "location": {
                        "x": 600.2276611328125,
                        "y": 4287.54150390625,
                        "z": 370.2435607910156
                    },
                    "rotation": {
                        "roll": 0.0017816389445215464,
                        "pitch": 0.3352598249912262,
                        "yaw": -179.87913513183594
                    }
                },
                "velocity": {
                    "x": -1.5229111909866333,
                    "y": -0.0036300946958363056,
                    "z": 0.006239967420697212
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.6958950757980347,
                "transform": {
                    "location": {
                        "x": 680.7210083007812,
                        "y": 4290.24072265625,
                        "z": 369.79986572265625
                    },
                    "rotation": {
                        "roll": -0.0020141596905887127,
                        "pitch": 0.2475738525390625,
                        "yaw": 178.64407348632812
                    }
                },
                "velocity": {
                    "x": -1.6958378553390503,
                    "y": 0.010379140265285969,
                    "z": 0.009293909184634686
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.417842388153076,
                "transform": {
                    "location": {
                        "x": 665.2424926757812,
                        "y": 4290.3349609375,
                        "z": 369.885498046875
                    },
                    "rotation": {
                        "roll": -0.0016174314077943563,
                        "pitch": 0.20140177011489868,
                        "yaw": 179.65907287597656
                    }
                },
                "velocity": {
                    "x": -4.417703628540039,
                    "y": 0.026297280564904213,
                    "z": 0.023082464933395386
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.043001174926758,
                "transform": {
                    "location": {
                        "x": 638.194580078125,
                        "y": 4290.49365234375,
                        "z": 370.0589294433594
                    },
                    "rotation": {
                        "roll": -3.0517514460370876e-05,
                        "pitch": 0.30113619565963745,
                        "yaw": 179.65548706054688
                    }
                },
                "velocity": {
                    "x": -8.042750358581543,
                    "y": 0.048324327915906906,
                    "z": 0.04124557226896286
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37625,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.733425617218018,
                "transform": {
                    "location": {
                        "x": 694.2899169921875,
                        "y": 4290.1640625,
                        "z": 369.7158203125
                    },
                    "rotation": {
                        "roll": 5.785557732451707e-05,
                        "pitch": 0.040038567036390305,
                        "yaw": 179.66226196289062
                    }
                },
                "velocity": {
                    "x": -6.733198642730713,
                    "y": 0.03962939605116844,
                    "z": 0.038581572473049164
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.11387017369270325,
        "expert_target_speed": 10.0,
        "target_point": [
            16.88953104017373,
            4.656815610010536
        ],
        "target_point_next": [
            67.56237135889451,
            10.424018954181141
        ]
    },
    "255": {
        "acceleration": [
            -3.797588348388672,
            -0.6756627559661865,
            0.012782067060470581
        ],
        "angular_velocity": [
            -0.5536175966262817,
            -0.4398677945137024,
            6.50067663192749
        ],
        "forward_vector": [
            -0.9948819875717163,
            0.09948436915874481,
            0.017683297395706177
        ],
        "right_vector": [
            -0.09942147880792618,
            -0.9950356483459473,
            0.004402566235512495
        ],
        "location": [
            645.8767700195312,
            4290.20654296875,
            369.97772216796875
        ],
        "rotation": [
            -0.25228872895240784,
            1.0132311582565308,
            174.2896270751953
        ],
        "velocity": [
            -8.659140586853027,
            0.7561232447624207,
            0.04458380490541458
        ],
        "speed": 8.692090546246941,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 9.693333625793457,
        "front_vehicle_info": {
            "id": 37511,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                636.1884765625,
                4290.50537109375,
                370.06927490234375
            ],
            "velocity": [
                -8.008241653442383,
                0.04852117970585823,
                0.041038092225790024
            ],
            "speed_kmh": 28.830577649698736,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 37661,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.0689115524292,
                "transform": {
                    "location": {
                        "x": 588.2330932617188,
                        "y": 4297.44384765625,
                        "z": 370.2594909667969
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": -0.2532019317150116,
                        "yaw": 0.26131731271743774
                    }
                },
                "velocity": {
                    "x": 8.068816184997559,
                    "y": 0.01838451810181141,
                    "z": -0.0345848947763443
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37660,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.066667556762695,
                "transform": {
                    "location": {
                        "x": 588.2240600585938,
                        "y": 4294.19287109375,
                        "z": 370.2575988769531
                    },
                    "rotation": {
                        "roll": -0.001007080078125,
                        "pitch": -0.2537824809551239,
                        "yaw": 0.3400028645992279
                    }
                },
                "velocity": {
                    "x": 8.066567420959473,
                    "y": 0.02148945815861225,
                    "z": -0.03394140303134918
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37644,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.918216705322266,
                "transform": {
                    "location": {
                        "x": 629.0670776367188,
                        "y": 4297.24951171875,
                        "z": 370.07916259765625
                    },
                    "rotation": {
                        "roll": -0.0017395017202943563,
                        "pitch": -0.7246078848838806,
                        "yaw": -0.4402160942554474
                    }
                },
                "velocity": {
                    "x": 5.918044090270996,
                    "y": -0.0338161326944828,
                    "z": -0.029928045347332954
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37643,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.214633941650391,
                "transform": {
                    "location": {
                        "x": 629.0819091796875,
                        "y": 4293.99853515625,
                        "z": 370.07843017578125
                    },
                    "rotation": {
                        "roll": 0.0005007473519071937,
                        "pitch": -0.6492913961410522,
                        "yaw": -0.344207763671875
                    }
                },
                "velocity": {
                    "x": 6.214449882507324,
                    "y": -0.035909704864025116,
                    "z": -0.03164399415254593
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37628,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051457405090332,
                "transform": {
                    "location": {
                        "x": 670.1638793945312,
                        "y": 4297.0078125,
                        "z": 369.8492431640625
                    },
                    "rotation": {
                        "roll": 0.0005243169143795967,
                        "pitch": -0.31289777159690857,
                        "yaw": -0.3474425673484802
                    }
                },
                "velocity": {
                    "x": 8.051185607910156,
                    "y": -0.04858696833252907,
                    "z": -0.04495551064610481
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37627,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.076641082763672,
                "transform": {
                    "location": {
                        "x": 670.1856079101562,
                        "y": 4293.75634765625,
                        "z": 369.84332275390625
                    },
                    "rotation": {
                        "roll": -0.0003051758976653218,
                        "pitch": -0.31252893805503845,
                        "yaw": -0.3332824409008026
                    }
                },
                "velocity": {
                    "x": 8.07638168334961,
                    "y": -0.04702938348054886,
                    "z": -0.044451288878917694
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 37624,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.08645248413086,
                "transform": {
                    "location": {
                        "x": 712.0735473632812,
                        "y": 4296.7724609375,
                        "z": 369.6154479980469
                    },
                    "rotation": {
                        "roll": -0.0002746582613326609,
                        "pitch": -0.33435139060020447,
                        "yaw": -0.2004699558019638
                    }
                },
                "velocity": {
                    "x": 8.086180686950684,
                    "y": -0.04756444692611694,
                    "z": -0.04616079851984978
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 37622,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.042016983032227,
                "transform": {
                    "location": {
                        "x": 712.74951171875,
                        "y": 4293.50732421875,
                        "z": 369.6131591796875
                    },
                    "rotation": {
                        "roll": 0.000507463002577424,
                        "pitch": -0.335539847612381,
                        "yaw": -0.354095458984375
                    }
                },
                "velocity": {
                    "x": 8.041731834411621,
                    "y": -0.04974009469151497,
                    "z": -0.046047743409872055
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.475961685180664,
                "transform": {
                    "location": {
                        "x": 680.7514038085938,
                        "y": 4286.99365234375,
                        "z": 369.7904357910156
                    },
                    "rotation": {
                        "roll": 0.0009041625889949501,
                        "pitch": 0.30775463581085205,
                        "yaw": 179.65699768066406
                    }
                },
                "velocity": {
                    "x": -9.475638389587402,
                    "y": 0.05729025602340698,
                    "z": 0.053383197635412216
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.865461349487305,
                "transform": {
                    "location": {
                        "x": 660.809814453125,
                        "y": 4287.1103515625,
                        "z": 369.9115905761719
                    },
                    "rotation": {
                        "roll": 0.0009116426226682961,
                        "pitch": 0.009384679608047009,
                        "yaw": 179.6514129638672
                    }
                },
                "velocity": {
                    "x": -8.865175247192383,
                    "y": 0.05231200531125069,
                    "z": 0.04826397821307182
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.1600069999694824,
                "transform": {
                    "location": {
                        "x": 610.6460571289062,
                        "y": 4287.4169921875,
                        "z": 370.1556091308594
                    },
                    "rotation": {
                        "roll": 0.002905439818277955,
                        "pitch": 0.5067453384399414,
                        "yaw": 179.8091583251953
                    }
                },
                "velocity": {
                    "x": -2.1599600315093994,
                    "y": 0.010044192895293236,
                    "z": 0.010069246403872967
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.5028088092803955,
                "transform": {
                    "location": {
                        "x": 599.7289428710938,
                        "y": 4287.541015625,
                        "z": 370.24560546875
                    },
                    "rotation": {
                        "roll": 0.001660268404521048,
                        "pitch": 0.36301088333129883,
                        "yaw": -179.87249755859375
                    }
                },
                "velocity": {
                    "x": -2.5027804374694824,
                    "y": -0.005839510355144739,
                    "z": 0.010388822294771671
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.605050563812256,
                "transform": {
                    "location": {
                        "x": 680.1775512695312,
                        "y": 4290.24560546875,
                        "z": 369.8031311035156
                    },
                    "rotation": {
                        "roll": -0.0012817379320040345,
                        "pitch": 0.22986316680908203,
                        "yaw": 178.8873291015625
                    }
                },
                "velocity": {
                    "x": -2.604970932006836,
                    "y": 0.014440515078604221,
                    "z": 0.014364728704094887
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.185153007507324,
                "transform": {
                    "location": {
                        "x": 664.0070190429688,
                        "y": 4290.34228515625,
                        "z": 369.8923034667969
                    },
                    "rotation": {
                        "roll": -0.00033569333027116954,
                        "pitch": 0.21762347221374512,
                        "yaw": 179.65708923339844
                    }
                },
                "velocity": {
                    "x": -5.184980392456055,
                    "y": 0.031246135011315346,
                    "z": 0.02854456752538681
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.00849437713623,
                "transform": {
                    "location": {
                        "x": 636.1884765625,
                        "y": 4290.50537109375,
                        "z": 370.06927490234375
                    },
                    "rotation": {
                        "roll": 0.0011985712917521596,
                        "pitch": 0.293438583612442,
                        "yaw": 179.65243530273438
                    }
                },
                "velocity": {
                    "x": -8.008241653442383,
                    "y": 0.04852117970585823,
                    "z": 0.041038092225790024
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37625,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.8532733917236328,
                "transform": {
                    "location": {
                        "x": 693.126220703125,
                        "y": 4290.1708984375,
                        "z": 369.7261962890625
                    },
                    "rotation": {
                        "roll": -0.00042724609375,
                        "pitch": -1.024623990058899,
                        "yaw": 179.6596221923828
                    }
                },
                "velocity": {
                    "x": -1.8532240390777588,
                    "y": 0.010796727612614632,
                    "z": 0.008147954940795898
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.07085254788398743,
        "expert_target_speed": 10.0,
        "target_point": [
            14.98239615868525,
            4.3286315712123065
        ],
        "target_point_next": [
            65.75837830018527,
            9.103253854247795
        ]
    },
    "260": {
        "acceleration": [
            -7.659358978271484,
            -2.3983609676361084,
            0.05375407636165619
        ],
        "angular_velocity": [
            -1.51469087600708,
            0.9862769246101379,
            14.641877174377441
        ],
        "forward_vector": [
            -0.9984687566757202,
            0.05251883342862129,
            0.01737423799932003
        ],
        "right_vector": [
            -0.052348438650369644,
            -0.9985775351524353,
            0.01012097392231226
        ],
        "location": [
            643.5751953125,
            4290.34814453125,
            369.9898376464844
        ],
        "rotation": [
            -0.5799865126609802,
            0.9955205321311951,
            176.9890594482422
        ],
        "velocity": [
            -10.16417407989502,
            0.31303250789642334,
            0.05260833725333214
        ],
        "speed": 10.168993267645018,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 9.39526653289795,
        "front_vehicle_info": {
            "id": 37511,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                634.181884765625,
                4290.517578125,
                370.0794982910156
            ],
            "velocity": [
                -8.042491912841797,
                0.048265185207128525,
                0.04128245264291763
            ],
            "speed_kmh": 28.953873674953066,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 37661,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.3646416664123535,
                "transform": {
                    "location": {
                        "x": 590.1332397460938,
                        "y": 4297.447265625,
                        "z": 370.2513122558594
                    },
                    "rotation": {
                        "roll": -0.000518798828125,
                        "pitch": -0.2650727927684784,
                        "yaw": 0.08214031904935837
                    }
                },
                "velocity": {
                    "x": 7.364568710327148,
                    "y": 0.002485244767740369,
                    "z": -0.032597750425338745
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37660,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.094355583190918,
                "transform": {
                    "location": {
                        "x": 590.2443237304688,
                        "y": 4294.1982421875,
                        "z": 370.248779296875
                    },
                    "rotation": {
                        "roll": -3.0517569030052982e-05,
                        "pitch": -0.25253257155418396,
                        "yaw": 0.12036179006099701
                    }
                },
                "velocity": {
                    "x": 8.094268798828125,
                    "y": 0.006352024152874947,
                    "z": -0.03688732162117958
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37644,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.332512855529785,
                "transform": {
                    "location": {
                        "x": 630.448486328125,
                        "y": 4297.2421875,
                        "z": 370.0712890625
                    },
                    "rotation": {
                        "roll": 0.0027629444375634193,
                        "pitch": -0.6027778387069702,
                        "yaw": -0.5286865234375
                    }
                },
                "velocity": {
                    "x": 5.332345008850098,
                    "y": -0.03151099756360054,
                    "z": -0.028265194967389107
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37643,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.5189642906188965,
                "transform": {
                    "location": {
                        "x": 630.5214233398438,
                        "y": 4293.99072265625,
                        "z": 370.07086181640625
                    },
                    "rotation": {
                        "roll": 0.0011965802405029535,
                        "pitch": -0.5999091267585754,
                        "yaw": -0.3470153510570526
                    }
                },
                "velocity": {
                    "x": 5.518789768218994,
                    "y": -0.0329136960208416,
                    "z": -0.029020637273788452
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37628,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084736824035645,
                "transform": {
                    "location": {
                        "x": 672.1810913085938,
                        "y": 4296.99609375,
                        "z": 369.83819580078125
                    },
                    "rotation": {
                        "roll": -0.0007324218167923391,
                        "pitch": -0.3153361678123474,
                        "yaw": -0.3464660346508026
                    }
                },
                "velocity": {
                    "x": 8.084465980529785,
                    "y": -0.04893459752202034,
                    "z": -0.044506948441267014
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37627,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.024811744689941,
                "transform": {
                    "location": {
                        "x": 672.1981811523438,
                        "y": 4293.74462890625,
                        "z": 369.83221435546875
                    },
                    "rotation": {
                        "roll": -3.051755265914835e-05,
                        "pitch": -0.31594404578208923,
                        "yaw": -0.3375244140625
                    }
                },
                "velocity": {
                    "x": 8.02454662322998,
                    "y": -0.047175344079732895,
                    "z": -0.045006342232227325
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 37624,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.020607948303223,
                "transform": {
                    "location": {
                        "x": 714.0866088867188,
                        "y": 4296.7607421875,
                        "z": 369.6037292480469
                    },
                    "rotation": {
                        "roll": -0.00027465823222883046,
                        "pitch": -0.3359701633453369,
                        "yaw": -0.1697387546300888
                    }
                },
                "velocity": {
                    "x": 8.020344734191895,
                    "y": -0.046210143715143204,
                    "z": -0.04561935365200043
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 37622,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 714.7738037109375,
                        "y": 4293.47216796875,
                        "z": 369.6012268066406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.33312880992889404,
                        "yaw": -0.33837890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.157875061035156,
                "transform": {
                    "location": {
                        "x": 678.5538940429688,
                        "y": 4287.0068359375,
                        "z": 369.80291748046875
                    },
                    "rotation": {
                        "roll": 0.0005599833093583584,
                        "pitch": 0.2917446792125702,
                        "yaw": 179.65000915527344
                    }
                },
                "velocity": {
                    "x": -8.157600402832031,
                    "y": 0.0491950586438179,
                    "z": 0.045261505991220474
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.0484843254089355,
                "transform": {
                    "location": {
                        "x": 658.9349975585938,
                        "y": 4287.11767578125,
                        "z": 369.92498779296875
                    },
                    "rotation": {
                        "roll": -0.007781981956213713,
                        "pitch": -0.3947370946407318,
                        "yaw": 179.25836181640625
                    }
                },
                "velocity": {
                    "x": -5.048374652862549,
                    "y": 0.019519636407494545,
                    "z": 0.026977624744176865
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.6490738391876221,
                "transform": {
                    "location": {
                        "x": 610.4476318359375,
                        "y": 4287.41845703125,
                        "z": 370.1588134765625
                    },
                    "rotation": {
                        "roll": -0.0039062497671693563,
                        "pitch": -0.08505634218454361,
                        "yaw": 179.94215393066406
                    }
                },
                "velocity": {
                    "x": -0.6490651369094849,
                    "y": 0.002188665559515357,
                    "z": 0.0025541973300278187
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.8632304668426514,
                "transform": {
                    "location": {
                        "x": 598.9321899414062,
                        "y": 4287.5390625,
                        "z": 370.24896240234375
                    },
                    "rotation": {
                        "roll": 0.002825127448886633,
                        "pitch": 0.4051394760608673,
                        "yaw": -179.87396240234375
                    }
                },
                "velocity": {
                    "x": -3.863180160522461,
                    "y": -0.00848148763179779,
                    "z": 0.017793331295251846
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.5741779804229736,
                "transform": {
                    "location": {
                        "x": 679.4068603515625,
                        "y": 4290.251953125,
                        "z": 369.8074951171875
                    },
                    "rotation": {
                        "roll": -6.103536725277081e-05,
                        "pitch": 0.22194015979766846,
                        "yaw": 179.1337890625
                    }
                },
                "velocity": {
                    "x": -3.574068784713745,
                    "y": 0.02046535722911358,
                    "z": 0.019023818895220757
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.859125137329102,
                "transform": {
                    "location": {
                        "x": 662.6398315429688,
                        "y": 4290.35009765625,
                        "z": 369.89947509765625
                    },
                    "rotation": {
                        "roll": 2.352369665459264e-05,
                        "pitch": 0.2428678572177887,
                        "yaw": 179.66970825195312
                    }
                },
                "velocity": {
                    "x": -5.8589396476745605,
                    "y": 0.0347476527094841,
                    "z": 0.031081408262252808
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.042742729187012,
                "transform": {
                    "location": {
                        "x": 634.181884765625,
                        "y": 4290.517578125,
                        "z": 370.0794982910156
                    },
                    "rotation": {
                        "roll": 0.00035104205016978085,
                        "pitch": 0.2927623689174652,
                        "yaw": 179.65614318847656
                    }
                },
                "velocity": {
                    "x": -8.042491912841797,
                    "y": 0.048265185207128525,
                    "z": 0.04128245264291763
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37625,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.0955804586410522,
                "transform": {
                    "location": {
                        "x": 692.9614868164062,
                        "y": 4290.171875,
                        "z": 369.72576904296875
                    },
                    "rotation": {
                        "roll": -0.0006713868933729827,
                        "pitch": -0.6896714568138123,
                        "yaw": 179.63804626464844
                    }
                },
                "velocity": {
                    "x": -1.0955226421356201,
                    "y": 0.008205789141356945,
                    "z": 0.0077026463113725185
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.3309641182422638,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.016074279323220253,
        "expert_target_speed": 10.0,
        "target_point": [
            12.863798844364418,
            3.6387225524891855
        ],
        "target_point_next": [
            63.808305042334844,
            6.016677267058006
        ]
    },
    "265": {
        "acceleration": [
            -4.968357086181641,
            -3.9417850971221924,
            0.054181888699531555
        ],
        "angular_velocity": [
            -1.4376928806304932,
            -0.41150766611099243,
            20.39375114440918
        ],
        "forward_vector": [
            -0.9994644522666931,
            -0.027627721428871155,
            0.017537647858262062
        ],
        "right_vector": [
            0.027934718877077103,
            -0.9994564652442932,
            0.017508290708065033
        ],
        "location": [
            640.8385620117188,
            4290.33154296875,
            370.0040588378906
        ],
        "rotation": [
            -1.0033568143844604,
            1.0048847198486328,
            -178.41661071777344
        ],
        "velocity": [
            -11.588088035583496,
            -0.5536175966262817,
            0.060254648327827454
        ],
        "speed": 11.601304959517599,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 8.665327072143555,
        "front_vehicle_info": {
            "id": 37511,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                632.1759033203125,
                4290.52880859375,
                370.0896911621094
            ],
            "velocity": [
                -8.00783634185791,
                0.04916556552052498,
                0.04024816304445267
            ],
            "speed_kmh": 28.829118290175373,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 37661,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.220459938049316,
                "transform": {
                    "location": {
                        "x": 592.0662231445312,
                        "y": 4297.447265625,
                        "z": 370.2424621582031
                    },
                    "rotation": {
                        "roll": 0.00010585333802737296,
                        "pitch": -0.24279272556304932,
                        "yaw": -0.0364074669778347
                    }
                },
                "velocity": {
                    "x": 8.220361709594727,
                    "y": -0.016684558242559433,
                    "z": -0.03657232224941254
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37660,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.055469512939453,
                "transform": {
                    "location": {
                        "x": 592.2628784179688,
                        "y": 4294.19921875,
                        "z": 370.23968505859375
                    },
                    "rotation": {
                        "roll": 0.0013383330078795552,
                        "pitch": -0.25745031237602234,
                        "yaw": -0.059967029839754105
                    }
                },
                "velocity": {
                    "x": 8.055376052856445,
                    "y": -0.012600059621036053,
                    "z": -0.03672697767615318
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37644,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.564563751220703,
                "transform": {
                    "location": {
                        "x": 631.9033203125,
                        "y": 4297.2333984375,
                        "z": 370.0592041015625
                    },
                    "rotation": {
                        "roll": 0.001063089701347053,
                        "pitch": -0.04404105618596077,
                        "yaw": -0.4815979599952698
                    }
                },
                "velocity": {
                    "x": 6.564339637756348,
                    "y": -0.04282347112894058,
                    "z": -0.03333916515111923
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37643,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.64000129699707,
                "transform": {
                    "location": {
                        "x": 631.9797973632812,
                        "y": 4293.98193359375,
                        "z": 370.0593566894531
                    },
                    "rotation": {
                        "roll": 0.0011513510253280401,
                        "pitch": -0.12252675741910934,
                        "yaw": -0.3712157607078552
                    }
                },
                "velocity": {
                    "x": 6.6397929191589355,
                    "y": -0.04038495570421219,
                    "z": -0.0336730033159256
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37628,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051239967346191,
                "transform": {
                    "location": {
                        "x": 674.1978149414062,
                        "y": 4296.984375,
                        "z": 369.82708740234375
                    },
                    "rotation": {
                        "roll": 0.0001972075697267428,
                        "pitch": -0.31655874848365784,
                        "yaw": -0.3490600287914276
                    }
                },
                "velocity": {
                    "x": 8.050968170166016,
                    "y": -0.04910266399383545,
                    "z": -0.04445498064160347
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37627,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.076467514038086,
                "transform": {
                    "location": {
                        "x": 674.2109375,
                        "y": 4293.73291015625,
                        "z": 369.8211364746094
                    },
                    "rotation": {
                        "roll": -0.0003967284574173391,
                        "pitch": -0.31692758202552795,
                        "yaw": -0.3438720405101776
                    }
                },
                "velocity": {
                    "x": 8.076186180114746,
                    "y": -0.050069503486156464,
                    "z": -0.045115694403648376
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 37624,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 716.1663208007812,
                        "y": 4296.63720703125,
                        "z": 369.59283447265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.33312880992889404,
                        "yaw": -0.33837890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 37622,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 716.854736328125,
                        "y": 4293.3896484375,
                        "z": 369.58880615234375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.33312880992889404,
                        "yaw": -0.33837890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.5571064949035645,
                "transform": {
                    "location": {
                        "x": 676.6995239257812,
                        "y": 4287.01806640625,
                        "z": 369.813232421875
                    },
                    "rotation": {
                        "roll": 0.0019594631157815456,
                        "pitch": 0.28132182359695435,
                        "yaw": 179.65213012695312
                    }
                },
                "velocity": {
                    "x": -6.556885242462158,
                    "y": 0.039847295731306076,
                    "z": 0.036247462034225464
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.8577225208282471,
                "transform": {
                    "location": {
                        "x": 658.4151611328125,
                        "y": 4287.115234375,
                        "z": 369.93206787109375
                    },
                    "rotation": {
                        "roll": 0.02485801838338375,
                        "pitch": -0.9634049534797668,
                        "yaw": 178.96047973632812
                    }
                },
                "velocity": {
                    "x": -0.8577026724815369,
                    "y": 0.004375217016786337,
                    "z": 0.0038577269297093153
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.5991040468215942,
                "transform": {
                    "location": {
                        "x": 610.1471557617188,
                        "y": 4287.419921875,
                        "z": 370.15838623046875
                    },
                    "rotation": {
                        "roll": 0.0033452422358095646,
                        "pitch": 0.4091761112213135,
                        "yaw": 179.88426208496094
                    }
                },
                "velocity": {
                    "x": -1.5990737676620483,
                    "y": 0.007024426478892565,
                    "z": 0.006913909688591957
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.160099983215332,
                "transform": {
                    "location": {
                        "x": 597.7969970703125,
                        "y": 4287.53759765625,
                        "z": 370.2543029785156
                    },
                    "rotation": {
                        "roll": 0.0012620131019502878,
                        "pitch": 0.40980449318885803,
                        "yaw": -179.87417602539062
                    }
                },
                "velocity": {
                    "x": -5.16001033782959,
                    "y": -0.011302105151116848,
                    "z": 0.028252840042114258
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.69468879699707,
                "transform": {
                    "location": {
                        "x": 678.3657836914062,
                        "y": 4290.259765625,
                        "z": 369.8133239746094
                    },
                    "rotation": {
                        "roll": 0.0009402681025676429,
                        "pitch": 0.20696838200092316,
                        "yaw": 179.3521728515625
                    }
                },
                "velocity": {
                    "x": -4.694540023803711,
                    "y": 0.026616709306836128,
                    "z": 0.026282796636223793
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.10494327545166,
                "transform": {
                    "location": {
                        "x": 661.090087890625,
                        "y": 4290.35888671875,
                        "z": 369.90826416015625
                    },
                    "rotation": {
                        "roll": -0.001129150390625,
                        "pitch": 0.1799754798412323,
                        "yaw": 179.6706085205078
                    }
                },
                "velocity": {
                    "x": -7.1047234535217285,
                    "y": 0.04099365696310997,
                    "z": 0.03798912093043327
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.008088111877441,
                "transform": {
                    "location": {
                        "x": 632.1759033203125,
                        "y": 4290.52880859375,
                        "z": 370.0896911621094
                    },
                    "rotation": {
                        "roll": 0.0003508032823447138,
                        "pitch": 0.2929604649543762,
                        "yaw": 179.6491241455078
                    }
                },
                "velocity": {
                    "x": -8.00783634185791,
                    "y": 0.04916556552052498,
                    "z": 0.04024816304445267
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37625,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.964105248451233,
                "transform": {
                    "location": {
                        "x": 692.5571899414062,
                        "y": 4290.173828125,
                        "z": 369.7248229980469
                    },
                    "rotation": {
                        "roll": -0.0027465817984193563,
                        "pitch": 0.2535366117954254,
                        "yaw": 179.63514709472656
                    }
                },
                "velocity": {
                    "x": -1.9640388488769531,
                    "y": 0.012422583065927029,
                    "z": 0.010332860983908176
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.47190582752227783,
        "expert_target_speed": 0,
        "target_point": [
            10.377881107287118,
            2.655657958428312
        ],
        "target_point_next": [
            61.34916746504385,
            0.9452932560475011
        ]
    },
    "270": {
        "acceleration": [
            -2.6917266845703125,
            -1.905672550201416,
            -0.004716217517852783
        ],
        "angular_velocity": [
            1.1144994497299194,
            -0.7505365610122681,
            9.035365104675293
        ],
        "forward_vector": [
            -0.9957500696182251,
            -0.09077395498752594,
            0.01555117778480053
        ],
        "right_vector": [
            0.09102065116167068,
            -0.9957210421562195,
            0.01596570387482643
        ],
        "location": [
            637.7933349609375,
            4290.1181640625,
            370.0203857421875
        ],
        "rotation": [
            -0.9149169325828552,
            0.891052782535553,
            -174.79122924804688
        ],
        "velocity": [
            -12.62759780883789,
            -1.1877189874649048,
            0.06468730419874191
        ],
        "speed": 12.683331692223149,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 7.636066436767578,
        "front_vehicle_info": {
            "id": 37511,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                630.1693725585938,
                4290.54052734375,
                370.0998840332031
            ],
            "velocity": [
                -8.044004440307617,
                0.04934709891676903,
                0.04214092344045639
            ],
            "speed_kmh": 28.95935826021668,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 37661,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.185060501098633,
                "transform": {
                    "location": {
                        "x": 594.149658203125,
                        "y": 4297.4423828125,
                        "z": 370.2332458496094
                    },
                    "rotation": {
                        "roll": -0.00012207027612021193,
                        "pitch": -0.2575664222240448,
                        "yaw": -0.166015625
                    }
                },
                "velocity": {
                    "x": 8.184929847717285,
                    "y": -0.027982886880636215,
                    "z": -0.036783017218112946
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37660,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.9486870765686035,
                "transform": {
                    "location": {
                        "x": 594.2789306640625,
                        "y": 4294.1953125,
                        "z": 370.2306213378906
                    },
                    "rotation": {
                        "roll": 0.00048446207074448466,
                        "pitch": -0.26201969385147095,
                        "yaw": -0.2097168117761612
                    }
                },
                "velocity": {
                    "x": 7.948555946350098,
                    "y": -0.027415625751018524,
                    "z": -0.03650067746639252
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37644,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.507399559020996,
                "transform": {
                    "location": {
                        "x": 633.7206420898438,
                        "y": 4297.2216796875,
                        "z": 370.04925537109375
                    },
                    "rotation": {
                        "roll": -0.0007629393367096782,
                        "pitch": 0.052408039569854736,
                        "yaw": -0.4450378119945526
                    }
                },
                "velocity": {
                    "x": 7.507154941558838,
                    "y": -0.04751856252551079,
                    "z": -0.03754528984427452
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37643,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.9000067710876465,
                "transform": {
                    "location": {
                        "x": 633.8553466796875,
                        "y": 4293.970703125,
                        "z": 370.04779052734375
                    },
                    "rotation": {
                        "roll": -0.0008239745511673391,
                        "pitch": 0.1432085633277893,
                        "yaw": -0.3468322455883026
                    }
                },
                "velocity": {
                    "x": 7.899759292602539,
                    "y": -0.04770359769463539,
                    "z": -0.040427129715681076
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37628,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084436416625977,
                "transform": {
                    "location": {
                        "x": 676.21484375,
                        "y": 4296.97265625,
                        "z": 369.81597900390625
                    },
                    "rotation": {
                        "roll": 0.0002986969775520265,
                        "pitch": -0.3164358139038086,
                        "yaw": -0.3520813286304474
                    }
                },
                "velocity": {
                    "x": 8.084156036376953,
                    "y": -0.04966279864311218,
                    "z": -0.045476034283638
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37627,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.024347305297852,
                "transform": {
                    "location": {
                        "x": 676.2230224609375,
                        "y": 4293.72119140625,
                        "z": 369.8100280761719
                    },
                    "rotation": {
                        "roll": 8.348959090653807e-05,
                        "pitch": -0.31713250279426575,
                        "yaw": -0.3432006537914276
                    }
                },
                "velocity": {
                    "x": 8.024081230163574,
                    "y": -0.0480223186314106,
                    "z": -0.04428553953766823
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 37624,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 718.249267578125,
                        "y": 4296.62353515625,
                        "z": 369.5807189941406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.33312880992889404,
                        "yaw": -0.33837890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.539642333984375,
                "transform": {
                    "location": {
                        "x": 675.4180297851562,
                        "y": 4287.0224609375,
                        "z": 369.8204345703125
                    },
                    "rotation": {
                        "roll": -0.0006713866023346782,
                        "pitch": 0.24285419285297394,
                        "yaw": 179.06033325195312
                    }
                },
                "velocity": {
                    "x": -3.5392699241638184,
                    "y": 0.04783807322382927,
                    "z": 0.018625574186444283
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.437731385231018,
                "transform": {
                    "location": {
                        "x": 658.100830078125,
                        "y": 4287.11865234375,
                        "z": 369.9235534667969
                    },
                    "rotation": {
                        "roll": 0.0075868479907512665,
                        "pitch": 0.3077273368835449,
                        "yaw": 179.07765197753906
                    }
                },
                "velocity": {
                    "x": -1.4376537799835205,
                    "y": 0.012766593135893345,
                    "z": 0.007762155495584011
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.257004499435425,
                "transform": {
                    "location": {
                        "x": 609.6460571289062,
                        "y": 4287.421875,
                        "z": 370.16033935546875
                    },
                    "rotation": {
                        "roll": 0.002340622479096055,
                        "pitch": 0.5450900197029114,
                        "yaw": 179.83584594726562
                    }
                },
                "velocity": {
                    "x": -2.2569589614868164,
                    "y": 0.010402238927781582,
                    "z": 0.0098474882543087
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.483912467956543,
                "transform": {
                    "location": {
                        "x": 596.471923828125,
                        "y": 4287.53466796875,
                        "z": 370.26116943359375
                    },
                    "rotation": {
                        "roll": 0.0020750490948557854,
                        "pitch": 0.32616883516311646,
                        "yaw": -179.87355041503906
                    }
                },
                "velocity": {
                    "x": -5.4838385581970215,
                    "y": -0.012085303664207458,
                    "z": 0.02577228471636772
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.211239337921143,
                "transform": {
                    "location": {
                        "x": 677.087890625,
                        "y": 4290.2685546875,
                        "z": 369.82037353515625
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.25148072838783264,
                        "yaw": 179.51412963867188
                    }
                },
                "velocity": {
                    "x": -5.2110795974731445,
                    "y": 0.029131770133972168,
                    "z": 0.02860596589744091
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.195862770080566,
                "transform": {
                    "location": {
                        "x": 659.1610717773438,
                        "y": 4290.3701171875,
                        "z": 369.9186096191406
                    },
                    "rotation": {
                        "roll": -0.00021362295956350863,
                        "pitch": 0.18009841442108154,
                        "yaw": 179.66104125976562
                    }
                },
                "velocity": {
                    "x": -8.19559383392334,
                    "y": 0.04951179027557373,
                    "z": 0.044297389686107635
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.044266700744629,
                "transform": {
                    "location": {
                        "x": 630.1693725585938,
                        "y": 4290.54052734375,
                        "z": 370.0998840332031
                    },
                    "rotation": {
                        "roll": -0.0010986328125,
                        "pitch": 0.29349321126937866,
                        "yaw": 179.64779663085938
                    }
                },
                "velocity": {
                    "x": -8.044004440307617,
                    "y": 0.04934709891676903,
                    "z": 0.04214092344045639
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37625,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.15985369682312,
                "transform": {
                    "location": {
                        "x": 691.9899291992188,
                        "y": 4290.177734375,
                        "z": 369.7273254394531
                    },
                    "rotation": {
                        "roll": -0.0007629396859556437,
                        "pitch": 0.42517924308776855,
                        "yaw": 179.64501953125
                    }
                },
                "velocity": {
                    "x": -2.1597774028778076,
                    "y": 0.012396103702485561,
                    "z": 0.013268861919641495
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9991410374641418,
        "expert_target_speed": 0,
        "target_point": [
            7.473013896579258,
            2.0580866201675354
        ],
        "target_point_next": [
            58.234146334716456,
            -2.871904655431464
        ]
    },
    "275": {
        "acceleration": [
            1.3138198852539062,
            -2.633540630340576,
            -0.0009872019290924072
        ],
        "angular_velocity": [
            -0.22861960530281067,
            -1.4796059131622314,
            12.505707740783691
        ],
        "forward_vector": [
            -0.9915862083435059,
            -0.12904036045074463,
            0.01026743371039629
        ],
        "right_vector": [
            0.1291864663362503,
            -0.9915049076080322,
            0.015133369714021683
        ],
        "location": [
            634.6054077148438,
            4289.76220703125,
            370.0377197265625
        ],
        "rotation": [
            -0.867156982421875,
            0.5882909893989563,
            -172.58546447753906
        ],
        "velocity": [
            -12.73293399810791,
            -1.780174970626831,
            0.06440220028162003
        ],
        "speed": 12.85677374484822,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 6.4907426834106445,
        "front_vehicle_info": {
            "id": 37511,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                628.163330078125,
                4290.55224609375,
                370.10992431640625
            ],
            "velocity": [
                -8.006524085998535,
                0.04874100908637047,
                0.041009653359651566
            ],
            "speed_kmh": 28.824398883729373,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 37661,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.9076337814331055,
                "transform": {
                    "location": {
                        "x": 596.1455078125,
                        "y": 4297.43505859375,
                        "z": 370.2242126464844
                    },
                    "rotation": {
                        "roll": 0.0002130852808477357,
                        "pitch": -0.26669156551361084,
                        "yaw": -0.221435546875
                    }
                },
                "velocity": {
                    "x": 7.90748405456543,
                    "y": -0.031118744984269142,
                    "z": -0.03741838410496712
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37660,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.791347503662109,
                "transform": {
                    "location": {
                        "x": 596.0541381835938,
                        "y": 4294.18896484375,
                        "z": 370.22283935546875
                    },
                    "rotation": {
                        "roll": 0.001622544601559639,
                        "pitch": -0.29077479243278503,
                        "yaw": -0.27642822265625
                    }
                },
                "velocity": {
                    "x": 6.79120397567749,
                    "y": -0.029735142365098,
                    "z": -0.03265177831053734
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37644,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.644232749938965,
                "transform": {
                    "location": {
                        "x": 635.8504638671875,
                        "y": 4297.20751953125,
                        "z": 370.0393371582031
                    },
                    "rotation": {
                        "roll": -0.0031433103140443563,
                        "pitch": -0.045045096427202225,
                        "yaw": -0.3691100776195526
                    }
                },
                "velocity": {
                    "x": 8.643957138061523,
                    "y": -0.05275960639119148,
                    "z": -0.044466059654951096
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37643,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.562110900878906,
                "transform": {
                    "location": {
                        "x": 635.9721069335938,
                        "y": 4293.95751953125,
                        "z": 370.03912353515625
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": -0.10442675650119781,
                        "yaw": -0.3491210639476776
                    }
                },
                "velocity": {
                    "x": 8.56183910369873,
                    "y": -0.051537200808525085,
                    "z": -0.04461707919836044
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37628,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.05136775970459,
                "transform": {
                    "location": {
                        "x": 678.231689453125,
                        "y": 4296.9609375,
                        "z": 369.80474853515625
                    },
                    "rotation": {
                        "roll": -0.0001525878324173391,
                        "pitch": -0.31955039501190186,
                        "yaw": -0.3524169921875
                    }
                },
                "velocity": {
                    "x": 8.051088333129883,
                    "y": -0.04951956123113632,
                    "z": -0.045210301876068115
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37627,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.075586318969727,
                "transform": {
                    "location": {
                        "x": 678.2357788085938,
                        "y": 4293.70947265625,
                        "z": 369.7988586425781
                    },
                    "rotation": {
                        "roll": 0.0005650112289004028,
                        "pitch": -0.3202538788318634,
                        "yaw": -0.3473510444164276
                    }
                },
                "velocity": {
                    "x": 8.075313568115234,
                    "y": -0.04891422018408775,
                    "z": -0.04486576095223427
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.0864410400390625,
                "transform": {
                    "location": {
                        "x": 674.47021484375,
                        "y": 4287.0322265625,
                        "z": 369.82513427734375
                    },
                    "rotation": {
                        "roll": -0.002532958984375,
                        "pitch": 0.3090387284755707,
                        "yaw": 179.1851348876953
                    }
                },
                "velocity": {
                    "x": -4.0862860679626465,
                    "y": 0.028128137812018394,
                    "z": 0.0218502227216959
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.4688304662704468,
                "transform": {
                    "location": {
                        "x": 657.7149047851562,
                        "y": 4287.123046875,
                        "z": 369.92388916015625
                    },
                    "rotation": {
                        "roll": -0.005279540084302425,
                        "pitch": 0.5128173828125,
                        "yaw": 179.1681671142578
                    }
                },
                "velocity": {
                    "x": -1.4687573909759521,
                    "y": 0.011129649356007576,
                    "z": 0.009530792012810707
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.43177708983421326,
                "transform": {
                    "location": {
                        "x": 609.3526611328125,
                        "y": 4287.4228515625,
                        "z": 370.1643371582031
                    },
                    "rotation": {
                        "roll": -0.0024414057843387127,
                        "pitch": -0.18228407204151154,
                        "yaw": 179.8838348388672
                    }
                },
                "velocity": {
                    "x": -0.4317578375339508,
                    "y": 0.0029569503385573626,
                    "z": 0.002807674231007695
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.891462802886963,
                "transform": {
                    "location": {
                        "x": 595.0098266601562,
                        "y": 4287.533203125,
                        "z": 370.2672424316406
                    },
                    "rotation": {
                        "roll": 0.008618596941232681,
                        "pitch": 0.3932003080844879,
                        "yaw": -179.95098876953125
                    }
                },
                "velocity": {
                    "x": -6.891387939453125,
                    "y": 0.011054400354623795,
                    "z": 0.030182352289557457
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.885051727294922,
                "transform": {
                    "location": {
                        "x": 675.6911010742188,
                        "y": 4290.27685546875,
                        "z": 369.8279724121094
                    },
                    "rotation": {
                        "roll": -0.0010375975398346782,
                        "pitch": 0.2572932243347168,
                        "yaw": 179.5902862548828
                    }
                },
                "velocity": {
                    "x": -5.884875774383545,
                    "y": 0.03224313259124756,
                    "z": 0.0320868119597435
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.155278205871582,
                "transform": {
                    "location": {
                        "x": 656.9849853515625,
                        "y": 4290.3828125,
                        "z": 369.9300842285156
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": 0.20843003690242767,
                        "yaw": 179.6632537841797
                    }
                },
                "velocity": {
                    "x": -9.154987335205078,
                    "y": 0.05379442125558853,
                    "z": 0.0494319349527359
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.006776809692383,
                "transform": {
                    "location": {
                        "x": 628.163330078125,
                        "y": 4290.55224609375,
                        "z": 370.10992431640625
                    },
                    "rotation": {
                        "roll": -0.0006713866023346782,
                        "pitch": 0.2873665392398834,
                        "yaw": 179.6516571044922
                    }
                },
                "velocity": {
                    "x": -8.006524085998535,
                    "y": 0.04874100908637047,
                    "z": 0.041009653359651566
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37625,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.6306209564208984,
                "transform": {
                    "location": {
                        "x": 691.8328247070312,
                        "y": 4290.1787109375,
                        "z": 369.730224609375
                    },
                    "rotation": {
                        "roll": 0.0006315761711448431,
                        "pitch": -0.08285702019929886,
                        "yaw": 179.63531494140625
                    }
                },
                "velocity": {
                    "x": -0.6305924654006958,
                    "y": 0.004995154216885567,
                    "z": 0.003313255263492465
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.8515378832817078,
        "expert_target_speed": 0,
        "target_point": [
            54.873258401481806,
            -5.052677265273868
        ],
        "target_point_next": [
            60.81836839346781,
            -5.862290065906003
        ]
    },
    "280": {
        "acceleration": [
            3.624401092529297,
            -2.776174545288086,
            -0.025240331888198853
        ],
        "angular_velocity": [
            -0.4534638524055481,
            -1.2293096780776978,
            16.04319190979004
        ],
        "forward_vector": [
            -0.9822940826416016,
            -0.18730299174785614,
            0.003978956490755081
        ],
        "right_vector": [
            0.18734370172023773,
            -0.9821509122848511,
            0.01679084077477455
        ],
        "location": [
            631.5146484375,
            4289.25048828125,
            370.0548095703125
        ],
        "rotation": [
            -0.9620971083641052,
            0.22797803580760956,
            -169.20448303222656
        ],
        "velocity": [
            -11.97189712524414,
            -2.40157413482666,
            0.06114902347326279
        ],
        "speed": 12.210400448081026,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 5.5168843269348145,
        "front_vehicle_info": {
            "id": 37511,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                626.1567993164062,
                4290.56396484375,
                370.1199645996094
            ],
            "velocity": [
                -8.043469429016113,
                0.048829834908246994,
                0.040374755859375
            ],
            "speed_kmh": 28.9573883056206,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 37661,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.15855598449707,
                "transform": {
                    "location": {
                        "x": 598.1550903320312,
                        "y": 4297.42626953125,
                        "z": 370.21478271484375
                    },
                    "rotation": {
                        "roll": -0.00015258786152116954,
                        "pitch": -0.26096102595329285,
                        "yaw": -0.2556762397289276
                    }
                },
                "velocity": {
                    "x": 8.158378601074219,
                    "y": -0.038907118141651154,
                    "z": -0.03728112205862999
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37660,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.315457820892334,
                "transform": {
                    "location": {
                        "x": 597.8003540039062,
                        "y": 4294.18115234375,
                        "z": 370.2143249511719
                    },
                    "rotation": {
                        "roll": 0.0014265452045947313,
                        "pitch": -0.257504940032959,
                        "yaw": -0.2947997450828552
                    }
                },
                "velocity": {
                    "x": 7.3152923583984375,
                    "y": -0.03584975749254227,
                    "z": -0.033667851239442825
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37644,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.147737503051758,
                "transform": {
                    "location": {
                        "x": 637.9395751953125,
                        "y": 4297.19482421875,
                        "z": 370.03167724609375
                    },
                    "rotation": {
                        "roll": -0.0004882813664153218,
                        "pitch": -0.42647698521614075,
                        "yaw": -0.3303832709789276
                    }
                },
                "velocity": {
                    "x": 8.147475242614746,
                    "y": -0.047841206192970276,
                    "z": -0.04448363184928894
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37643,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.120848655700684,
                "transform": {
                    "location": {
                        "x": 638.0493774414062,
                        "y": 4293.9453125,
                        "z": 370.0309753417969
                    },
                    "rotation": {
                        "roll": 0.00020675803534686565,
                        "pitch": -0.4290451407432556,
                        "yaw": -0.3466186225414276
                    }
                },
                "velocity": {
                    "x": 8.120580673217773,
                    "y": -0.04893758147954941,
                    "z": -0.044211819767951965
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37628,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.08487319946289,
                "transform": {
                    "location": {
                        "x": 680.2488403320312,
                        "y": 4296.94921875,
                        "z": 369.79345703125
                    },
                    "rotation": {
                        "roll": -0.0005798339261673391,
                        "pitch": -0.3211076557636261,
                        "yaw": -0.3538818359375
                    }
                },
                "velocity": {
                    "x": 8.084589004516602,
                    "y": -0.0507701151072979,
                    "z": -0.044993460178375244
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37627,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.02441120147705,
                "transform": {
                    "location": {
                        "x": 680.2479248046875,
                        "y": 4293.69775390625,
                        "z": 369.78765869140625
                    },
                    "rotation": {
                        "roll": -0.0021972658578306437,
                        "pitch": -0.32016509771347046,
                        "yaw": -0.3508605659008026
                    }
                },
                "velocity": {
                    "x": 8.024134635925293,
                    "y": -0.049413662403821945,
                    "z": -0.04476231336593628
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.819274425506592,
                "transform": {
                    "location": {
                        "x": 673.3549194335938,
                        "y": 4287.0419921875,
                        "z": 369.83111572265625
                    },
                    "rotation": {
                        "roll": -0.0011901856632903218,
                        "pitch": 0.3306835889816284,
                        "yaw": 179.4111328125
                    }
                },
                "velocity": {
                    "x": -4.819119930267334,
                    "y": 0.028610369190573692,
                    "z": 0.025899074971675873
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.8337574005126953,
                "transform": {
                    "location": {
                        "x": 657.3356323242188,
                        "y": 4287.1259765625,
                        "z": 369.9275207519531
                    },
                    "rotation": {
                        "roll": -0.0038757326547056437,
                        "pitch": 0.34468546509742737,
                        "yaw": 179.22544860839844
                    }
                },
                "velocity": {
                    "x": -1.8336684703826904,
                    "y": 0.014916212297976017,
                    "z": 0.010183067061007023
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.4451076984405518,
                "transform": {
                    "location": {
                        "x": 609.0948486328125,
                        "y": 4287.4248046875,
                        "z": 370.1636962890625
                    },
                    "rotation": {
                        "roll": 0.0001247170876013115,
                        "pitch": 0.340437114238739,
                        "yaw": 179.8382110595703
                    }
                },
                "velocity": {
                    "x": -1.4450798034667969,
                    "y": 0.006608834024518728,
                    "z": 0.00608217203989625
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.377599716186523,
                "transform": {
                    "location": {
                        "x": 593.03564453125,
                        "y": 4287.53564453125,
                        "z": 370.27587890625
                    },
                    "rotation": {
                        "roll": 0.004519068170338869,
                        "pitch": 0.42575299739837646,
                        "yaw": 179.92611694335938
                    }
                },
                "velocity": {
                    "x": -8.377497673034668,
                    "y": 0.018036548048257828,
                    "z": 0.03718829154968262
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.451550483703613,
                "transform": {
                    "location": {
                        "x": 674.05810546875,
                        "y": 4290.28662109375,
                        "z": 369.8377380371094
                    },
                    "rotation": {
                        "roll": -0.0006408690824173391,
                        "pitch": 0.15863797068595886,
                        "yaw": 179.65029907226562
                    }
                },
                "velocity": {
                    "x": -7.451310157775879,
                    "y": 0.04317396506667137,
                    "z": 0.0414351150393486
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.97729206085205,
                "transform": {
                    "location": {
                        "x": 654.5897216796875,
                        "y": 4290.396484375,
                        "z": 369.9428405761719
                    },
                    "rotation": {
                        "roll": -0.0012207030085846782,
                        "pitch": 0.21475479006767273,
                        "yaw": 179.66355895996094
                    }
                },
                "velocity": {
                    "x": -9.976978302001953,
                    "y": 0.05859944224357605,
                    "z": 0.053282298147678375
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.043719291687012,
                "transform": {
                    "location": {
                        "x": 626.1567993164062,
                        "y": 4290.56396484375,
                        "z": 370.1199645996094
                    },
                    "rotation": {
                        "roll": 0.0006977713201195002,
                        "pitch": 0.28466859459877014,
                        "yaw": 179.6514434814453
                    }
                },
                "velocity": {
                    "x": -8.043469429016113,
                    "y": 0.048829834908246994,
                    "z": 0.040374755859375
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37625,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.4404685497283936,
                "transform": {
                    "location": {
                        "x": 691.5662231445312,
                        "y": 4290.1806640625,
                        "z": 369.7298889160156
                    },
                    "rotation": {
                        "roll": -0.0004272459773346782,
                        "pitch": 0.42496752738952637,
                        "yaw": 179.6548309326172
                    }
                },
                "velocity": {
                    "x": -1.4404269456863403,
                    "y": 0.008536582812666893,
                    "z": 0.006848687771707773
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3094276189804077,
        "expert_target_speed": 0,
        "target_point": [
            51.34785914095477,
            -8.203799201237151
        ],
        "target_point_next": [
            57.234874154362736,
            -9.362617537158833
        ]
    },
    "285": {
        "acceleration": [
            2.530956268310547,
            3.067655563354492,
            -0.038019195199012756
        ],
        "angular_velocity": [
            4.090687274932861,
            0.37979936599731445,
            -10.832894325256348
        ],
        "forward_vector": [
            -0.9802374243736267,
            -0.19782280921936035,
            0.0008218287257477641
        ],
        "right_vector": [
            0.19782450795173645,
            -0.9802266359329224,
            0.004597662482410669
        ],
        "location": [
            628.6166381835938,
            4288.67822265625,
            370.0701599121094
        ],
        "rotation": [
            -0.2634277045726776,
            0.04708732292056084,
            -168.59033203125
        ],
        "velocity": [
            -11.267091751098633,
            -2.0985870361328125,
            0.05670260265469551
        ],
        "speed": 11.460864892140538,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 20.030019760131836,
        "front_vehicle_info": {
            "id": 37515,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                608.6259765625,
                4287.4267578125,
                370.1650695800781
            ],
            "velocity": [
                -2.3071868419647217,
                0.010472582653164864,
                0.010243749246001244
            ],
            "speed_kmh": 8.306040061380067,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 37661,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.069140434265137,
                "transform": {
                    "location": {
                        "x": 600.189697265625,
                        "y": 4297.4169921875,
                        "z": 370.2054748535156
                    },
                    "rotation": {
                        "roll": -0.0014648438664153218,
                        "pitch": -0.26975148916244507,
                        "yaw": -0.28594970703125
                    }
                },
                "velocity": {
                    "x": 8.068947792053223,
                    "y": -0.04123006388545036,
                    "z": -0.03750205412507057
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37660,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.009957313537598,
                "transform": {
                    "location": {
                        "x": 599.7166748046875,
                        "y": 4294.17138671875,
                        "z": 370.20550537109375
                    },
                    "rotation": {
                        "roll": 0.0013002089690417051,
                        "pitch": -0.2491106390953064,
                        "yaw": -0.3114623427391052
                    }
                },
                "velocity": {
                    "x": 8.00975227355957,
                    "y": -0.043788522481918335,
                    "z": -0.03697555512189865
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37644,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.887406349182129,
                "transform": {
                    "location": {
                        "x": 639.9314575195312,
                        "y": 4297.18310546875,
                        "z": 370.02093505859375
                    },
                    "rotation": {
                        "roll": -0.0006103514460846782,
                        "pitch": -0.4136977195739746,
                        "yaw": -0.3239440619945526
                    }
                },
                "velocity": {
                    "x": 7.887172698974609,
                    "y": -0.045062363147735596,
                    "z": -0.040743663907051086
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37643,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.902071475982666,
                "transform": {
                    "location": {
                        "x": 640.0403442382812,
                        "y": 4293.93359375,
                        "z": 370.0201416015625
                    },
                    "rotation": {
                        "roll": -0.001220703125,
                        "pitch": -0.39578211307525635,
                        "yaw": -0.341094970703125
                    }
                },
                "velocity": {
                    "x": 7.901827812194824,
                    "y": -0.04686061665415764,
                    "z": -0.040657833218574524
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37628,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051246643066406,
                "transform": {
                    "location": {
                        "x": 682.2655029296875,
                        "y": 4296.9375,
                        "z": 369.7822265625
                    },
                    "rotation": {
                        "roll": 0.00024144469352904707,
                        "pitch": -0.320520281791687,
                        "yaw": -0.3565063178539276
                    }
                },
                "velocity": {
                    "x": 8.0509672164917,
                    "y": -0.05003787949681282,
                    "z": -0.044806744903326035
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37627,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.076266288757324,
                "transform": {
                    "location": {
                        "x": 682.2606201171875,
                        "y": 4293.68603515625,
                        "z": 369.7763977050781
                    },
                    "rotation": {
                        "roll": -0.0006103514460846782,
                        "pitch": -0.32000118494033813,
                        "yaw": -0.35162353515625
                    }
                },
                "velocity": {
                    "x": 8.075992584228516,
                    "y": -0.049578163772821426,
                    "z": -0.04430362209677696
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.277082920074463,
                "transform": {
                    "location": {
                        "x": 672.072509765625,
                        "y": 4287.05078125,
                        "z": 369.83843994140625
                    },
                    "rotation": {
                        "roll": 0.0004655152733903378,
                        "pitch": 0.32770562171936035,
                        "yaw": 179.5668182373047
                    }
                },
                "velocity": {
                    "x": -5.276924133300781,
                    "y": 0.028935203328728676,
                    "z": 0.028935812413692474
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.3953583240509033,
                "transform": {
                    "location": {
                        "x": 656.8345336914062,
                        "y": 4287.126953125,
                        "z": 369.9295654296875
                    },
                    "rotation": {
                        "roll": -0.0032958989031612873,
                        "pitch": 0.4096132516860962,
                        "yaw": 178.78128051757812
                    }
                },
                "velocity": {
                    "x": -2.395223379135132,
                    "y": 0.022179944440722466,
                    "z": 0.01243151631206274
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.3072333335876465,
                "transform": {
                    "location": {
                        "x": 608.6259765625,
                        "y": 4287.4267578125,
                        "z": 370.1650695800781
                    },
                    "rotation": {
                        "roll": 0.0015949526568874717,
                        "pitch": 0.5508342385292053,
                        "yaw": 179.81370544433594
                    }
                },
                "velocity": {
                    "x": -2.3071868419647217,
                    "y": 0.010472582653164864,
                    "z": 0.010243749246001244
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.940886497497559,
                "transform": {
                    "location": {
                        "x": 590.9844970703125,
                        "y": 4287.5390625,
                        "z": 370.28631591796875
                    },
                    "rotation": {
                        "roll": 0.0027656571473926306,
                        "pitch": 0.2634335458278656,
                        "yaw": 179.87579345703125
                    }
                },
                "velocity": {
                    "x": -7.940781593322754,
                    "y": 0.018596701323986053,
                    "z": 0.0363788865506649
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.445056915283203,
                "transform": {
                    "location": {
                        "x": 672.060791015625,
                        "y": 4290.2978515625,
                        "z": 369.8484802246094
                    },
                    "rotation": {
                        "roll": -0.001220703125,
                        "pitch": 0.1995507925748825,
                        "yaw": 179.6593017578125
                    }
                },
                "velocity": {
                    "x": -8.444802284240723,
                    "y": 0.04763947054743767,
                    "z": 0.045143984258174896
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.851420402526855,
                "transform": {
                    "location": {
                        "x": 651.979736328125,
                        "y": 4290.412109375,
                        "z": 369.9566955566406
                    },
                    "rotation": {
                        "roll": -0.0007324217585846782,
                        "pitch": 0.21746638417243958,
                        "yaw": 179.6505584716797
                    }
                },
                "velocity": {
                    "x": -10.851067543029785,
                    "y": 0.06620391458272934,
                    "z": 0.05724230781197548
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.008138656616211,
                "transform": {
                    "location": {
                        "x": 624.1505126953125,
                        "y": 4290.57568359375,
                        "z": 370.1298828125
                    },
                    "rotation": {
                        "roll": 0.0010364002082496881,
                        "pitch": 0.28483253717422485,
                        "yaw": 179.65158081054688
                    }
                },
                "velocity": {
                    "x": -8.007887840270996,
                    "y": 0.04865798354148865,
                    "z": 0.04062430188059807
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37625,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.3516619205474854,
                "transform": {
                    "location": {
                        "x": 691.0865478515625,
                        "y": 4290.18310546875,
                        "z": 369.73175048828125
                    },
                    "rotation": {
                        "roll": -6.1034988902974874e-05,
                        "pitch": 0.6332336068153381,
                        "yaw": 179.6263427734375
                    }
                },
                "velocity": {
                    "x": -2.351586103439331,
                    "y": 0.01361408457159996,
                    "z": 0.01307144109159708
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.15611331164836884,
        "expert_target_speed": 0,
        "target_point": [
            48.30302964932618,
            -8.741370037913704
        ],
        "target_point_next": [
            54.17728554692827,
            -9.963222464864739
        ]
    },
    "290": {
        "acceleration": [
            7.170524597167969,
            4.350795745849609,
            -0.048981085419654846
        ],
        "angular_velocity": [
            2.47800350189209,
            -1.0616817474365234,
            -21.022254943847656
        ],
        "forward_vector": [
            -0.993105411529541,
            -0.11722314357757568,
            0.0006377695826813579
        ],
        "right_vector": [
            0.11720608919858932,
            -0.9930289387702942,
            -0.012500675395131111
        ],
        "location": [
            625.8591918945312,
            4288.27783203125,
            370.0838928222656
        ],
        "rotation": [
            0.716254711151123,
            0.03654151037335396,
            -173.26812744140625
        ],
        "velocity": [
            -10.668607711791992,
            -1.0747750997543335,
            0.05323919281363487
        ],
        "speed": 10.722608452385058,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 18.001304626464844,
        "front_vehicle_info": {
            "id": 37515,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                607.8780517578125,
                4287.43017578125,
                370.1678161621094
            ],
            "velocity": [
                -3.6744236946105957,
                0.017308542504906654,
                0.016910066828131676
            ],
            "speed_kmh": 13.2282121356143,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 37661,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.01534366607666,
                "transform": {
                    "location": {
                        "x": 602.192626953125,
                        "y": 4297.40673828125,
                        "z": 370.196044921875
                    },
                    "rotation": {
                        "roll": -0.0015869140625,
                        "pitch": -0.26989489793777466,
                        "yaw": -0.3016357123851776
                    }
                },
                "velocity": {
                    "x": 8.015140533447266,
                    "y": -0.043232083320617676,
                    "z": -0.03713497146964073
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37660,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.549806594848633,
                "transform": {
                    "location": {
                        "x": 601.8701782226562,
                        "y": 4294.15966796875,
                        "z": 370.19537353515625
                    },
                    "rotation": {
                        "roll": 0.0006209998391568661,
                        "pitch": -0.24950680136680603,
                        "yaw": -0.341278076171875
                    }
                },
                "velocity": {
                    "x": 8.54957389831543,
                    "y": -0.04858263209462166,
                    "z": -0.04018392041325569
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37644,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.13717269897461,
                "transform": {
                    "location": {
                        "x": 641.934814453125,
                        "y": 4297.17138671875,
                        "z": 370.0092468261719
                    },
                    "rotation": {
                        "roll": 0.000554037862457335,
                        "pitch": -0.2540283799171448,
                        "yaw": -0.3229674994945526
                    }
                },
                "velocity": {
                    "x": 8.136940002441406,
                    "y": -0.04594985023140907,
                    "z": -0.04101143777370453
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37643,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.143691062927246,
                "transform": {
                    "location": {
                        "x": 642.0476684570312,
                        "y": 4293.921875,
                        "z": 370.0085144042969
                    },
                    "rotation": {
                        "roll": -0.0007324219332076609,
                        "pitch": -0.2520476281642914,
                        "yaw": -0.3367614448070526
                    }
                },
                "velocity": {
                    "x": 8.143445014953613,
                    "y": -0.047900546342134476,
                    "z": -0.041347894817590714
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37628,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.085466384887695,
                "transform": {
                    "location": {
                        "x": 684.28271484375,
                        "y": 4296.92578125,
                        "z": 369.7708435058594
                    },
                    "rotation": {
                        "roll": 0.0001893094158731401,
                        "pitch": -0.3223029375076294,
                        "yaw": -0.356292724609375
                    }
                },
                "velocity": {
                    "x": 8.085185050964355,
                    "y": -0.05025874450802803,
                    "z": -0.04497317597270012
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37627,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.026123046875,
                "transform": {
                    "location": {
                        "x": 684.273193359375,
                        "y": 4293.67431640625,
                        "z": 369.7651062011719
                    },
                    "rotation": {
                        "roll": -0.0003356931556481868,
                        "pitch": -0.3239763379096985,
                        "yaw": -0.34857177734375
                    }
                },
                "velocity": {
                    "x": 8.025848388671875,
                    "y": -0.04874654486775398,
                    "z": -0.04501129686832428
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.104912757873535,
                "transform": {
                    "location": {
                        "x": 670.6412353515625,
                        "y": 4287.0595703125,
                        "z": 369.8461608886719
                    },
                    "rotation": {
                        "roll": 5.5537064326927066e-05,
                        "pitch": 0.3308338522911072,
                        "yaw": 179.67764282226562
                    }
                },
                "velocity": {
                    "x": -6.104743480682373,
                    "y": 0.03161180391907692,
                    "z": 0.032619159668684006
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.006254015024751425,
                "transform": {
                    "location": {
                        "x": 656.4620971679688,
                        "y": 4287.1318359375,
                        "z": 369.9353332519531
                    },
                    "rotation": {
                        "roll": 0.00970273558050394,
                        "pitch": -0.07022117078304291,
                        "yaw": 178.90191650390625
                    }
                },
                "velocity": {
                    "x": -0.006169598549604416,
                    "y": -0.0005275433650240302,
                    "z": 0.0008777561597526073
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.6745033264160156,
                "transform": {
                    "location": {
                        "x": 607.8780517578125,
                        "y": 4287.43017578125,
                        "z": 370.1678161621094
                    },
                    "rotation": {
                        "roll": 0.0029506604187190533,
                        "pitch": 0.7574747800827026,
                        "yaw": 179.78330993652344
                    }
                },
                "velocity": {
                    "x": -3.6744236946105957,
                    "y": 0.017308542504906654,
                    "z": 0.016910066828131676
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.937803745269775,
                "transform": {
                    "location": {
                        "x": 589.0218505859375,
                        "y": 4287.54638671875,
                        "z": 370.2952575683594
                    },
                    "rotation": {
                        "roll": 0.004057803191244602,
                        "pitch": 0.248291015625,
                        "yaw": 179.79208374023438
                    }
                },
                "velocity": {
                    "x": -7.93765926361084,
                    "y": 0.03431455418467522,
                    "z": 0.03339444100856781
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.33698844909668,
                "transform": {
                    "location": {
                        "x": 669.8328857421875,
                        "y": 4290.310546875,
                        "z": 369.8604736328125
                    },
                    "rotation": {
                        "roll": 0.0005454030469991267,
                        "pitch": 0.2179718166589737,
                        "yaw": 179.69761657714844
                    }
                },
                "velocity": {
                    "x": -9.336709976196289,
                    "y": 0.05174368619918823,
                    "z": 0.05016804486513138
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.600081443786621,
                "transform": {
                    "location": {
                        "x": 649.1713256835938,
                        "y": 4290.4296875,
                        "z": 369.9715576171875
                    },
                    "rotation": {
                        "roll": 0.0003427739138714969,
                        "pitch": 0.22170792520046234,
                        "yaw": 179.65045166015625
                    }
                },
                "velocity": {
                    "x": -11.599705696105957,
                    "y": 0.07076781243085861,
                    "z": 0.060904357582330704
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.04360580444336,
                "transform": {
                    "location": {
                        "x": 622.1441040039062,
                        "y": 4290.58740234375,
                        "z": 370.1397705078125
                    },
                    "rotation": {
                        "roll": -0.00012207039981149137,
                        "pitch": 0.2855360507965088,
                        "yaw": 179.648193359375
                    }
                },
                "velocity": {
                    "x": -8.043349266052246,
                    "y": 0.04939146712422371,
                    "z": 0.0410337820649147
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37625,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.6746246814727783,
                "transform": {
                    "location": {
                        "x": 690.335693359375,
                        "y": 4290.18798828125,
                        "z": 369.7353515625
                    },
                    "rotation": {
                        "roll": -0.0016174317570403218,
                        "pitch": 0.8091041445732117,
                        "yaw": 179.6387939453125
                    }
                },
                "velocity": {
                    "x": -3.6745073795318604,
                    "y": 0.02166103571653366,
                    "z": 0.01979926973581314
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.2863692045211792,
        "expert_target_speed": 10.0,
        "target_point": [
            46.069642103208686,
            -4.847439266822848
        ],
        "target_point_next": [
            52.02397585142302,
            -5.586164735880929
        ]
    },
    "295": {
        "acceleration": [
            5.129375457763672,
            0.7095909118652344,
            -0.016866102814674377
        ],
        "angular_velocity": [
            -1.5156666040420532,
            -0.2937230169773102,
            -4.08045768737793
        ],
        "forward_vector": [
            -0.9973992705345154,
            -0.07189902663230896,
            -0.005030133295804262
        ],
        "right_vector": [
            0.07194427400827408,
            -0.9973635673522949,
            -0.009481311775743961
        ],
        "location": [
            623.4468383789062,
            4288.06689453125,
            370.0969543457031
        ],
        "rotation": [
            0.5432541966438293,
            -0.28820663690567017,
            -175.8768768310547
        ],
        "velocity": [
            -8.952658653259277,
            -0.6702025532722473,
            0.04447229206562042
        ],
        "speed": 8.977709531065864,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 16.674238204956055,
        "front_vehicle_info": {
            "id": 37515,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                606.7847290039062,
                4287.435546875,
                370.1726379394531
            ],
            "velocity": [
                -4.994108200073242,
                0.02410805970430374,
                0.02295437827706337
            ],
            "speed_kmh": 17.979188903178702,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 37661,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.124045372009277,
                "transform": {
                    "location": {
                        "x": 604.2144775390625,
                        "y": 4297.39501953125,
                        "z": 370.1865234375
                    },
                    "rotation": {
                        "roll": -6.103521445766091e-05,
                        "pitch": -0.26931434869766235,
                        "yaw": -0.316650390625
                    }
                },
                "velocity": {
                    "x": 8.123830795288086,
                    "y": -0.045909322798252106,
                    "z": -0.03720419481396675
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37660,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.143072128295898,
                "transform": {
                    "location": {
                        "x": 603.9475708007812,
                        "y": 4294.1484375,
                        "z": 370.1858825683594
                    },
                    "rotation": {
                        "roll": 0.0007771527743898332,
                        "pitch": -0.2824693024158478,
                        "yaw": -0.3576964735984802
                    }
                },
                "velocity": {
                    "x": 8.142827987670898,
                    "y": -0.04943102225661278,
                    "z": -0.0390160009264946
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37644,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.121567726135254,
                "transform": {
                    "location": {
                        "x": 643.9736328125,
                        "y": 4297.15966796875,
                        "z": 369.9987487792969
                    },
                    "rotation": {
                        "roll": -6.103515261202119e-05,
                        "pitch": -0.26608365774154663,
                        "yaw": -0.3227843642234802
                    }
                },
                "velocity": {
                    "x": 8.12133502960205,
                    "y": -0.04578476399183273,
                    "z": -0.040940940380096436
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37643,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.11188793182373,
                "transform": {
                    "location": {
                        "x": 644.0851440429688,
                        "y": 4293.91015625,
                        "z": 369.99810791015625
                    },
                    "rotation": {
                        "roll": -0.00024414061044808477,
                        "pitch": -0.2734944224357605,
                        "yaw": -0.336181640625
                    }
                },
                "velocity": {
                    "x": 8.11164379119873,
                    "y": -0.047588977962732315,
                    "z": -0.041116561740636826
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37628,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051488876342773,
                "transform": {
                    "location": {
                        "x": 686.2996215820312,
                        "y": 4296.91259765625,
                        "z": 369.7595520019531
                    },
                    "rotation": {
                        "roll": 0.0012761568650603294,
                        "pitch": -0.3234572410583496,
                        "yaw": -0.3619384467601776
                    }
                },
                "velocity": {
                    "x": 8.051203727722168,
                    "y": -0.05091506242752075,
                    "z": -0.04474658519029617
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37627,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.074311256408691,
                "transform": {
                    "location": {
                        "x": 686.2857666015625,
                        "y": 4293.66259765625,
                        "z": 369.7537841796875
                    },
                    "rotation": {
                        "roll": -0.0013122557429596782,
                        "pitch": -0.3240651488304138,
                        "yaw": -0.3522948920726776
                    }
                },
                "velocity": {
                    "x": 8.074029922485352,
                    "y": -0.049715567380189896,
                    "z": -0.04548405483365059
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.353660583496094,
                "transform": {
                    "location": {
                        "x": 669.1443481445312,
                        "y": 4287.06787109375,
                        "z": 369.85455322265625
                    },
                    "rotation": {
                        "roll": 0.00021931763330940157,
                        "pitch": 0.3086630702018738,
                        "yaw": 179.71876525878906
                    }
                },
                "velocity": {
                    "x": -5.353510856628418,
                    "y": 0.0267251655459404,
                    "z": 0.029823502525687218
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.4440689086914062,
                "transform": {
                    "location": {
                        "x": 656.2283935546875,
                        "y": 4287.1337890625,
                        "z": 369.93365478515625
                    },
                    "rotation": {
                        "roll": -0.00958251766860485,
                        "pitch": 0.31341004371643066,
                        "yaw": 178.9243621826172
                    }
                },
                "velocity": {
                    "x": -1.4439979791641235,
                    "y": 0.012532698921859264,
                    "z": 0.006897611543536186
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.9942193031311035,
                "transform": {
                    "location": {
                        "x": 606.7847290039062,
                        "y": 4287.435546875,
                        "z": 370.1726379394531
                    },
                    "rotation": {
                        "roll": 0.0023837750777602196,
                        "pitch": 0.8481455445289612,
                        "yaw": 179.75315856933594
                    }
                },
                "velocity": {
                    "x": -4.994108200073242,
                    "y": 0.02410805970430374,
                    "z": 0.02295437827706337
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.145243644714355,
                "transform": {
                    "location": {
                        "x": 586.9960327148438,
                        "y": 4287.5546875,
                        "z": 370.30377197265625
                    },
                    "rotation": {
                        "roll": 0.0015973243862390518,
                        "pitch": 0.27157512307167053,
                        "yaw": 179.7510528564453
                    }
                },
                "velocity": {
                    "x": -8.145082473754883,
                    "y": 0.03684842586517334,
                    "z": 0.035726793110370636
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.195725440979004,
                "transform": {
                    "location": {
                        "x": 667.3865356445312,
                        "y": 4290.32373046875,
                        "z": 369.873779296875
                    },
                    "rotation": {
                        "roll": -0.0002746580867096782,
                        "pitch": 0.22344279289245605,
                        "yaw": 179.66908264160156
                    }
                },
                "velocity": {
                    "x": -10.195423126220703,
                    "y": 0.05651971697807312,
                    "z": 0.054447077214717865
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.407501220703125,
                "transform": {
                    "location": {
                        "x": 646.1657104492188,
                        "y": 4290.447265625,
                        "z": 369.9874572753906
                    },
                    "rotation": {
                        "roll": 9.139212488662452e-05,
                        "pitch": 0.2205604612827301,
                        "yaw": 179.65521240234375
                    }
                },
                "velocity": {
                    "x": -12.407106399536133,
                    "y": 0.0746154934167862,
                    "z": 0.06497514247894287
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.00819206237793,
                "transform": {
                    "location": {
                        "x": 620.1378784179688,
                        "y": 4290.59912109375,
                        "z": 370.14959716796875
                    },
                    "rotation": {
                        "roll": 8.315013474202715e-06,
                        "pitch": 0.2820799648761749,
                        "yaw": 179.6444091796875
                    }
                },
                "velocity": {
                    "x": -8.007938385009766,
                    "y": 0.049730684608221054,
                    "z": 0.03993096202611923
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37625,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.991117000579834,
                "transform": {
                    "location": {
                        "x": 689.2427978515625,
                        "y": 4290.19482421875,
                        "z": 369.7412414550781
                    },
                    "rotation": {
                        "roll": 1.134933245339198e-05,
                        "pitch": 0.899016797542572,
                        "yaw": 179.64857482910156
                    }
                },
                "velocity": {
                    "x": -4.990955352783203,
                    "y": 0.02932838909327984,
                    "z": 0.027464408427476883
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.33109670877456665,
        "expert_target_speed": 10.0,
        "target_point": [
            43.821254378472574,
            -2.7824734438197574
        ],
        "target_point_next": [
            49.80304072836845,
            -3.249418588305211
        ]
    },
    "300": {
        "acceleration": [
            4.195661544799805,
            0.26795387268066406,
            -0.0191381573677063
        ],
        "angular_velocity": [
            -0.7931529879570007,
            0.20935161411762238,
            3.227910041809082
        ],
        "forward_vector": [
            -0.9974348545074463,
            -0.07144671678543091,
            -0.004363283980637789
        ],
        "right_vector": [
            0.07146591693162918,
            -0.9974332451820374,
            -0.004417417570948601
        ],
        "location": [
            621.3582153320312,
            4287.91259765625,
            370.1070861816406
        ],
        "rotation": [
            0.2531026005744934,
            -0.2499985694885254,
            -175.9028778076172
        ],
        "velocity": [
            -7.8319411277771,
            -0.5655996203422546,
            0.039352357387542725
        ],
        "speed": 7.8523375347407045,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 15.924484252929688,
        "front_vehicle_info": {
            "id": 37515,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                605.4408569335938,
                4287.44189453125,
                370.1800842285156
            ],
            "velocity": [
                -5.408020496368408,
                0.028650430962443352,
                0.0255063995718956
            ],
            "speed_kmh": 19.46936352789416,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 37661,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.028707504272461,
                "transform": {
                    "location": {
                        "x": 606.2327270507812,
                        "y": 4297.3837890625,
                        "z": 370.1770324707031
                    },
                    "rotation": {
                        "roll": 1.4370593817147892e-06,
                        "pitch": -0.27279090881347656,
                        "yaw": -0.321685791015625
                    }
                },
                "velocity": {
                    "x": 8.028494834899902,
                    "y": -0.04499208182096481,
                    "z": -0.03734837844967842
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37660,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.962738990783691,
                "transform": {
                    "location": {
                        "x": 605.9550170898438,
                        "y": 4294.13671875,
                        "z": 370.17633056640625
                    },
                    "rotation": {
                        "roll": 0.0006606989190913737,
                        "pitch": -0.2787468433380127,
                        "yaw": -0.3853759169578552
                    }
                },
                "velocity": {
                    "x": 7.9624924659729,
                    "y": -0.05038619413971901,
                    "z": -0.03714132681488991
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37644,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.053348541259766,
                "transform": {
                    "location": {
                        "x": 645.9927368164062,
                        "y": 4297.14794921875,
                        "z": 369.9886779785156
                    },
                    "rotation": {
                        "roll": 0.0006932615651749074,
                        "pitch": -0.3312983214855194,
                        "yaw": -0.3227538764476776
                    }
                },
                "velocity": {
                    "x": 8.053115844726562,
                    "y": -0.045356299728155136,
                    "z": -0.0411733016371727
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37643,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.054431915283203,
                "transform": {
                    "location": {
                        "x": 646.1029663085938,
                        "y": 4293.8984375,
                        "z": 369.9880065917969
                    },
                    "rotation": {
                        "roll": -0.0013732911320403218,
                        "pitch": -0.331025093793869,
                        "yaw": -0.3344116508960724
                    }
                },
                "velocity": {
                    "x": 8.054189682006836,
                    "y": -0.04691910743713379,
                    "z": -0.04122234135866165
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37628,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.083974838256836,
                "transform": {
                    "location": {
                        "x": 688.316650390625,
                        "y": 4296.9013671875,
                        "z": 369.7481689453125
                    },
                    "rotation": {
                        "roll": 0.0005414510960690677,
                        "pitch": -0.3246456980705261,
                        "yaw": -0.3596191108226776
                    }
                },
                "velocity": {
                    "x": 8.08369255065918,
                    "y": -0.05070443078875542,
                    "z": -0.044662509113550186
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37627,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.025424003601074,
                "transform": {
                    "location": {
                        "x": 688.298095703125,
                        "y": 4293.650390625,
                        "z": 369.74237060546875
                    },
                    "rotation": {
                        "roll": 0.0020706497598439455,
                        "pitch": -0.3245159387588501,
                        "yaw": -0.3526611328125
                    }
                },
                "velocity": {
                    "x": 8.025150299072266,
                    "y": -0.0492420457303524,
                    "z": -0.04425701126456261
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.1943664699792862,
                "transform": {
                    "location": {
                        "x": 668.463134765625,
                        "y": 4287.07080078125,
                        "z": 369.8588562011719
                    },
                    "rotation": {
                        "roll": 0.00037617681664414704,
                        "pitch": 0.21038347482681274,
                        "yaw": 179.72349548339844
                    }
                },
                "velocity": {
                    "x": -0.1943608969449997,
                    "y": 0.0008879033848643303,
                    "z": 0.0011742591159418225
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.8770642280578613,
                "transform": {
                    "location": {
                        "x": 655.6875610351562,
                        "y": 4287.1396484375,
                        "z": 369.9334411621094
                    },
                    "rotation": {
                        "roll": -0.015289305709302425,
                        "pitch": 0.6871989369392395,
                        "yaw": 179.07676696777344
                    }
                },
                "velocity": {
                    "x": -2.8769454956054688,
                    "y": 0.021694162860512733,
                    "z": 0.014614171348512173
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.408156394958496,
                "transform": {
                    "location": {
                        "x": 605.4408569335938,
                        "y": 4287.44189453125,
                        "z": 370.1800842285156
                    },
                    "rotation": {
                        "roll": 0.003964002709835768,
                        "pitch": 0.6517502665519714,
                        "yaw": 179.74534606933594
                    }
                },
                "velocity": {
                    "x": -5.408020496368408,
                    "y": 0.028650430962443352,
                    "z": 0.0255063995718956
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.956831932067871,
                "transform": {
                    "location": {
                        "x": 584.9857177734375,
                        "y": 4287.564453125,
                        "z": 370.3128356933594
                    },
                    "rotation": {
                        "roll": 0.001976913306862116,
                        "pitch": 0.23371540009975433,
                        "yaw": 179.73167419433594
                    }
                },
                "velocity": {
                    "x": -7.956663608551025,
                    "y": 0.03983413800597191,
                    "z": 0.03300934657454491
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.030102729797363,
                "transform": {
                    "location": {
                        "x": 664.728759765625,
                        "y": 4290.3388671875,
                        "z": 369.88818359375
                    },
                    "rotation": {
                        "roll": 0.00031305282027460635,
                        "pitch": 0.22554649412631989,
                        "yaw": 179.6916046142578
                    }
                },
                "velocity": {
                    "x": -11.029769897460938,
                    "y": 0.06136312335729599,
                    "z": 0.05980747938156128
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.733768463134766,
                "transform": {
                    "location": {
                        "x": 643.0972290039062,
                        "y": 4290.46484375,
                        "z": 370.0025634765625
                    },
                    "rotation": {
                        "roll": 0.0015519922599196434,
                        "pitch": 0.3353008031845093,
                        "yaw": 179.66122436523438
                    }
                },
                "velocity": {
                    "x": -11.733402252197266,
                    "y": 0.069366954267025,
                    "z": 0.0614878349006176
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.043448448181152,
                "transform": {
                    "location": {
                        "x": 618.1314086914062,
                        "y": 4290.611328125,
                        "z": 370.1593933105469
                    },
                    "rotation": {
                        "roll": -0.000457763671875,
                        "pitch": 0.2764587104320526,
                        "yaw": 179.6444091796875
                    }
                },
                "velocity": {
                    "x": -8.043201446533203,
                    "y": 0.049896273761987686,
                    "z": 0.0385730154812336
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37625,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.3731865882873535,
                "transform": {
                    "location": {
                        "x": 687.9144287109375,
                        "y": 4290.20263671875,
                        "z": 369.7498779296875
                    },
                    "rotation": {
                        "roll": -0.00048828107537701726,
                        "pitch": 0.679931640625,
                        "yaw": 179.67153930664062
                    }
                },
                "velocity": {
                    "x": -5.373013019561768,
                    "y": 0.03102693520486355,
                    "z": 0.030009306967258453
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2079414278268814,
        "expert_target_speed": 10.0,
        "target_point": [
            41.72820355645695,
            -2.7672562127296216
        ],
        "target_point_next": [
            47.71020125928272,
            -3.231485883416853
        ]
    },
    "305": {
        "acceleration": [
            -0.3497314453125,
            0.37229716777801514,
            0.009156465530395508
        ],
        "angular_velocity": [
            -0.30627334117889404,
            1.3104304075241089,
            -5.7870941162109375
        ],
        "forward_vector": [
            -0.9980106949806213,
            -0.06302977353334427,
            -0.0013928408734500408
        ],
        "right_vector": [
            0.06303451955318451,
            -0.9980046153068542,
            -0.003675420070067048
        ],
        "location": [
            619.4901123046875,
            4287.79248046875,
            370.1155700683594
        ],
        "rotation": [
            0.21058674156665802,
            -0.07980392873287201,
            -176.38626098632812
        ],
        "velocity": [
            -7.346724033355713,
            -0.4106040596961975,
            0.037214841693639755
        ],
        "speed": 7.3581892960242214,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 15.576504707336426,
        "front_vehicle_info": {
            "id": 37515,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                603.9175415039062,
                4287.44970703125,
                370.1866455078125
            ],
            "velocity": [
                -7.011687278747559,
                0.03494326025247574,
                0.03254532814025879
            ],
            "speed_kmh": 25.242659564178936,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 37661,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.087493896484375,
                "transform": {
                    "location": {
                        "x": 608.2459106445312,
                        "y": 4297.37158203125,
                        "z": 370.1674499511719
                    },
                    "rotation": {
                        "roll": 0.0008520188857801259,
                        "pitch": -0.27123361825942993,
                        "yaw": -0.3222655951976776
                    }
                },
                "velocity": {
                    "x": 8.087279319763184,
                    "y": -0.045430202037096024,
                    "z": -0.037473782896995544
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37660,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.9786763191223145,
                "transform": {
                    "location": {
                        "x": 607.9450073242188,
                        "y": 4294.125,
                        "z": 370.16693115234375
                    },
                    "rotation": {
                        "roll": -0.00012207026884425431,
                        "pitch": -0.2717595398426056,
                        "yaw": -0.3540344834327698
                    }
                },
                "velocity": {
                    "x": 7.9784393310546875,
                    "y": -0.04913059249520302,
                    "z": -0.03701193630695343
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37644,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.05225658416748,
                "transform": {
                    "location": {
                        "x": 648.0037841796875,
                        "y": 4297.13623046875,
                        "z": 369.9779357910156
                    },
                    "rotation": {
                        "roll": -0.001007080078125,
                        "pitch": -0.31140196323394775,
                        "yaw": -0.3259887099266052
                    }
                },
                "velocity": {
                    "x": 8.052021026611328,
                    "y": -0.04587070271372795,
                    "z": -0.041002463549375534
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37643,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.05654525756836,
                "transform": {
                    "location": {
                        "x": 648.1151733398438,
                        "y": 4293.88671875,
                        "z": 369.9771728515625
                    },
                    "rotation": {
                        "roll": -3.0517534469254315e-05,
                        "pitch": -0.3092367947101593,
                        "yaw": -0.3333129584789276
                    }
                },
                "velocity": {
                    "x": 8.056304931640625,
                    "y": -0.046873390674591064,
                    "z": -0.0409950353205204
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37628,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 690.3452758789062,
                        "y": 4296.8564453125,
                        "z": 369.73834228515625
                    },
                    "rotation": {
                        "roll": 1.0422210316995972e-10,
                        "pitch": -0.32589563727378845,
                        "yaw": -0.33837890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37627,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 690.323486328125,
                        "y": 4293.60595703125,
                        "z": 369.73443603515625
                    },
                    "rotation": {
                        "roll": 1.0422210316995972e-10,
                        "pitch": -0.32589563727378845,
                        "yaw": -0.33837890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.18420757353305817,
                "transform": {
                    "location": {
                        "x": 668.4327392578125,
                        "y": 4287.0712890625,
                        "z": 369.85845947265625
                    },
                    "rotation": {
                        "roll": 0.00035260082222521305,
                        "pitch": 0.2861507534980774,
                        "yaw": 179.72581481933594
                    }
                },
                "velocity": {
                    "x": -0.18419340252876282,
                    "y": 0.0009607390384189785,
                    "z": 0.0020730113610625267
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.776913166046143,
                "transform": {
                    "location": {
                        "x": 654.7262573242188,
                        "y": 4287.1484375,
                        "z": 369.9377746582031
                    },
                    "rotation": {
                        "roll": -0.014007568359375,
                        "pitch": 0.7759572863578796,
                        "yaw": 179.28797912597656
                    }
                },
                "velocity": {
                    "x": -4.776727199554443,
                    "y": 0.033244188874959946,
                    "z": 0.02593281678855419
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.011849880218506,
                "transform": {
                    "location": {
                        "x": 603.9175415039062,
                        "y": 4287.44970703125,
                        "z": 370.1866455078125
                    },
                    "rotation": {
                        "roll": 0.0015569168608635664,
                        "pitch": 0.7940436005592346,
                        "yaw": 179.713134765625
                    }
                },
                "velocity": {
                    "x": -7.011687278747559,
                    "y": 0.03494326025247574,
                    "z": 0.03254532814025879
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.023852348327637,
                "transform": {
                    "location": {
                        "x": 582.994140625,
                        "y": 4287.57421875,
                        "z": 370.3211975097656
                    },
                    "rotation": {
                        "roll": 0.0008670174865983427,
                        "pitch": 0.2506406009197235,
                        "yaw": 179.7063751220703
                    }
                },
                "velocity": {
                    "x": -8.023679733276367,
                    "y": 0.041100312024354935,
                    "z": 0.03292147442698479
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.932767868041992,
                "transform": {
                    "location": {
                        "x": 661.931884765625,
                        "y": 4290.35498046875,
                        "z": 369.90277099609375
                    },
                    "rotation": {
                        "roll": -0.001007080078125,
                        "pitch": 0.29724299907684326,
                        "yaw": 179.65365600585938
                    }
                },
                "velocity": {
                    "x": -10.93241024017334,
                    "y": 0.06558765470981598,
                    "z": 0.059291236102581024
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.401952743530273,
                "transform": {
                    "location": {
                        "x": 640.3556518554688,
                        "y": 4290.48095703125,
                        "z": 370.01617431640625
                    },
                    "rotation": {
                        "roll": 0.0001272545923711732,
                        "pitch": 0.4218597710132599,
                        "yaw": 179.66075134277344
                    }
                },
                "velocity": {
                    "x": -10.40162181854248,
                    "y": 0.06161419674754143,
                    "z": 0.05557600036263466
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.008337020874023,
                "transform": {
                    "location": {
                        "x": 616.125244140625,
                        "y": 4290.62255859375,
                        "z": 370.1689758300781
                    },
                    "rotation": {
                        "roll": -0.00015258784696925431,
                        "pitch": 0.2763221263885498,
                        "yaw": 179.64427185058594
                    }
                },
                "velocity": {
                    "x": -8.008097648620605,
                    "y": 0.04965290054678917,
                    "z": 0.03692762181162834
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37625,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.908585071563721,
                "transform": {
                    "location": {
                        "x": 686.379150390625,
                        "y": 4290.2109375,
                        "z": 369.7578430175781
                    },
                    "rotation": {
                        "roll": -9.155271982308477e-05,
                        "pitch": 0.8595929145812988,
                        "yaw": 179.6758575439453
                    }
                },
                "velocity": {
                    "x": -6.908369541168213,
                    "y": 0.0389857217669487,
                    "z": 0.03816027566790581
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.12504784762859344,
        "expert_target_speed": 10.0,
        "target_point": [
            39.87810514837382,
            -2.417246358716414
        ],
        "target_point_next": [
            45.86380647108423,
            -2.8309919074080536
        ]
    },
    "310": {
        "acceleration": [
            -4.618959426879883,
            0.13286828994750977,
            0.012973770499229431
        ],
        "angular_velocity": [
            -0.22044992446899414,
            1.7684876918792725,
            -0.867375910282135
        ],
        "forward_vector": [
            -0.9987314343452454,
            -0.04998668655753136,
            0.006069145631045103
        ],
        "right_vector": [
            0.049967728555202484,
            -0.9987455606460571,
            -0.003236358053982258
        ],
        "location": [
            617.5650024414062,
            4287.6953125,
            370.1233825683594
        ],
        "rotation": [
            0.18543338775634766,
            0.3477385640144348,
            -177.13473510742188
        ],
        "velocity": [
            -8.15363597869873,
            -0.35106420516967773,
            0.03797627240419388
        ],
        "speed": 8.161190216462414,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 15.588064193725586,
        "front_vehicle_info": {
            "id": 37515,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                601.9788818359375,
                4287.4599609375,
                370.19537353515625
            ],
            "velocity": [
                -8.295873641967773,
                0.043946679681539536,
                0.03852338716387749
            ],
            "speed_kmh": 29.865886151222774,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 37661,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.058806419372559,
                "transform": {
                    "location": {
                        "x": 610.2655029296875,
                        "y": 4297.35986328125,
                        "z": 370.1579284667969
                    },
                    "rotation": {
                        "roll": 0.0010945850517600775,
                        "pitch": -0.27167075872421265,
                        "yaw": -0.3248595893383026
                    }
                },
                "velocity": {
                    "x": 8.05859088897705,
                    "y": -0.04565209150314331,
                    "z": -0.037287481129169464
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37660,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.031067848205566,
                "transform": {
                    "location": {
                        "x": 609.9473876953125,
                        "y": 4294.11328125,
                        "z": 370.1573791503906
                    },
                    "rotation": {
                        "roll": -0.0001525878324173391,
                        "pitch": -0.26962852478027344,
                        "yaw": -0.364837646484375
                    }
                },
                "velocity": {
                    "x": 8.030826568603516,
                    "y": -0.0495719276368618,
                    "z": -0.03757987543940544
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37644,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.114297866821289,
                "transform": {
                    "location": {
                        "x": 650.026611328125,
                        "y": 4297.12451171875,
                        "z": 369.9670104980469
                    },
                    "rotation": {
                        "roll": 8.481885743094608e-05,
                        "pitch": -0.29253697395324707,
                        "yaw": -0.3264159858226776
                    }
                },
                "velocity": {
                    "x": 8.11406135559082,
                    "y": -0.04620937258005142,
                    "z": -0.04132021963596344
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37643,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.111505508422852,
                "transform": {
                    "location": {
                        "x": 650.1382446289062,
                        "y": 4293.875,
                        "z": 369.96630859375
                    },
                    "rotation": {
                        "roll": 0.00048742545186541975,
                        "pitch": -0.29397815465927124,
                        "yaw": -0.336669921875
                    }
                },
                "velocity": {
                    "x": 8.111258506774902,
                    "y": -0.0476694330573082,
                    "z": -0.0416160523891449
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37628,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 692.4253540039062,
                        "y": 4296.77783203125,
                        "z": 369.7300720214844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.328702837228775,
                        "yaw": -0.3383789360523224
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37627,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 692.403564453125,
                        "y": 4293.52783203125,
                        "z": 369.7298278808594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.328702837228775,
                        "yaw": -0.3383789360523224
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.8255289196968079,
                "transform": {
                    "location": {
                        "x": 668.310791015625,
                        "y": 4287.0712890625,
                        "z": 369.85888671875
                    },
                    "rotation": {
                        "roll": 0.0002018303202930838,
                        "pitch": 0.32312941551208496,
                        "yaw": 179.73207092285156
                    }
                },
                "velocity": {
                    "x": -0.8255113959312439,
                    "y": 0.004374934826046228,
                    "z": 0.003122644266113639
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.034064292907715,
                "transform": {
                    "location": {
                        "x": 653.5817260742188,
                        "y": 4287.15673828125,
                        "z": 369.9477233886719
                    },
                    "rotation": {
                        "roll": -0.004486083053052425,
                        "pitch": 0.3034448027610779,
                        "yaw": 179.45077514648438
                    }
                },
                "velocity": {
                    "x": -4.03393030166626,
                    "y": 0.02466661110520363,
                    "z": 0.02175673469901085
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.296079635620117,
                "transform": {
                    "location": {
                        "x": 601.9788818359375,
                        "y": 4287.4599609375,
                        "z": 370.19537353515625
                    },
                    "rotation": {
                        "roll": 0.0019447660306468606,
                        "pitch": 0.8790521025657654,
                        "yaw": 179.71121215820312
                    }
                },
                "velocity": {
                    "x": -8.295873641967773,
                    "y": 0.043946679681539536,
                    "z": 0.03852338716387749
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.072765350341797,
                "transform": {
                    "location": {
                        "x": 580.9752807617188,
                        "y": 4287.58447265625,
                        "z": 370.3297424316406
                    },
                    "rotation": {
                        "roll": 0.00165886792819947,
                        "pitch": 0.24684984982013702,
                        "yaw": 179.6997528076172
                    }
                },
                "velocity": {
                    "x": -8.072577476501465,
                    "y": 0.04381581023335457,
                    "z": 0.03330834209918976
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.876288414001465,
                "transform": {
                    "location": {
                        "x": 659.3515625,
                        "y": 4290.37060546875,
                        "z": 369.9159240722656
                    },
                    "rotation": {
                        "roll": -6.1035010730847716e-05,
                        "pitch": 0.3953244984149933,
                        "yaw": 179.67539978027344
                    }
                },
                "velocity": {
                    "x": -9.875975608825684,
                    "y": 0.058438513427972794,
                    "z": 0.05254886671900749
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.568973541259766,
                "transform": {
                    "location": {
                        "x": 637.7598266601562,
                        "y": 4290.49658203125,
                        "z": 370.0307312011719
                    },
                    "rotation": {
                        "roll": -0.0014343259390443563,
                        "pitch": 0.30219486355781555,
                        "yaw": 179.6584930419922
                    }
                },
                "velocity": {
                    "x": -10.568642616271973,
                    "y": 0.0650356337428093,
                    "z": 0.052680909633636475
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.044232368469238,
                "transform": {
                    "location": {
                        "x": 614.1187133789062,
                        "y": 4290.634765625,
                        "z": 370.1785888671875
                    },
                    "rotation": {
                        "roll": 9.588234206603374e-06,
                        "pitch": 0.2769095003604889,
                        "yaw": 179.6424560546875
                    }
                },
                "velocity": {
                    "x": -8.04397964477539,
                    "y": 0.051695600152015686,
                    "z": 0.03741546720266342
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37625,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.066657066345215,
                "transform": {
                    "location": {
                        "x": 684.4763793945312,
                        "y": 4290.22216796875,
                        "z": 369.7684020996094
                    },
                    "rotation": {
                        "roll": 5.545788008021191e-05,
                        "pitch": 0.8962505459785461,
                        "yaw": 179.677001953125
                    }
                },
                "velocity": {
                    "x": -8.066407203674316,
                    "y": 0.04541228339076042,
                    "z": 0.04434457793831825
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.04045330360531807,
        "expert_target_speed": 10.0,
        "target_point": [
            37.978717902566046,
            -1.8969432925572944
        ],
        "target_point_next": [
            43.96931311554862,
            -2.2324648238327396
        ]
    },
    "315": {
        "acceleration": [
            -7.728595733642578,
            0.3572124242782593,
            0.05258426070213318
        ],
        "angular_velocity": [
            0.08230443298816681,
            2.0498178005218506,
            -4.117005348205566
        ],
        "forward_vector": [
            -0.9993290901184082,
            -0.03498842194676399,
            0.01082697231322527
        ],
        "right_vector": [
            0.03495332598686218,
            -0.9993830919265747,
            -0.0034136157482862473
        ],
        "location": [
            615.4306640625,
            4287.61474609375,
            370.1324768066406
        ],
        "rotation": [
            0.1955976039171219,
            0.6203519105911255,
            -177.99478149414062
        ],
        "velocity": [
            -9.264971733093262,
            -0.2662959098815918,
            0.04465669393539429
        ],
        "speed": 9.26879791163001,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 15.525249481201172,
        "front_vehicle_info": {
            "id": 37515,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                599.90625,
                4287.4716796875,
                370.20648193359375
            ],
            "velocity": [
                -8.094956398010254,
                0.046526726335287094,
                0.03704031929373741
            ],
            "speed_kmh": 29.142629450023275,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 37661,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.075948715209961,
                "transform": {
                    "location": {
                        "x": 612.2816162109375,
                        "y": 4297.34814453125,
                        "z": 370.1482849121094
                    },
                    "rotation": {
                        "roll": -0.0013732911320403218,
                        "pitch": -0.2752975821495056,
                        "yaw": -0.326904296875
                    }
                },
                "velocity": {
                    "x": 8.075729370117188,
                    "y": -0.04627377539873123,
                    "z": -0.03745464235544205
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37660,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.032469749450684,
                "transform": {
                    "location": {
                        "x": 611.9559936523438,
                        "y": 4294.10107421875,
                        "z": 370.1478576660156
                    },
                    "rotation": {
                        "roll": 6.231565930647776e-05,
                        "pitch": -0.27395203709602356,
                        "yaw": -0.3343810439109802
                    }
                },
                "velocity": {
                    "x": 8.032238960266113,
                    "y": -0.04783390462398529,
                    "z": -0.03779728710651398
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37644,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.059171676635742,
                "transform": {
                    "location": {
                        "x": 652.048095703125,
                        "y": 4297.11279296875,
                        "z": 369.9563903808594
                    },
                    "rotation": {
                        "roll": 0.00015207995602395386,
                        "pitch": -0.30959880352020264,
                        "yaw": -0.3265380561351776
                    }
                },
                "velocity": {
                    "x": 8.05893611907959,
                    "y": -0.045896489173173904,
                    "z": -0.0411030650138855
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37643,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.058734893798828,
                "transform": {
                    "location": {
                        "x": 652.1592407226562,
                        "y": 4293.86328125,
                        "z": 369.9556884765625
                    },
                    "rotation": {
                        "roll": -0.0007629393949173391,
                        "pitch": -0.3092367947101593,
                        "yaw": -0.3395080268383026
                    }
                },
                "velocity": {
                    "x": 8.058485984802246,
                    "y": -0.04781821742653847,
                    "z": -0.04163148254156113
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37628,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 694.5081787109375,
                        "y": 4296.76318359375,
                        "z": 369.71826171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.328702837228775,
                        "yaw": -0.3383789360523224
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37627,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 694.4864501953125,
                        "y": 4293.51318359375,
                        "z": 369.7181701660156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.328702837228775,
                        "yaw": -0.3383789360523224
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.5381152629852295,
                "transform": {
                    "location": {
                        "x": 668.01123046875,
                        "y": 4287.0732421875,
                        "z": 369.86041259765625
                    },
                    "rotation": {
                        "roll": -3.051759995287284e-05,
                        "pitch": 0.330424040555954,
                        "yaw": 179.72108459472656
                    }
                },
                "velocity": {
                    "x": -1.5380785465240479,
                    "y": 0.007340301293879747,
                    "z": 0.007689847610890865
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.1645344495773315,
                "transform": {
                    "location": {
                        "x": 652.8286743164062,
                        "y": 4287.16259765625,
                        "z": 369.95623779296875
                    },
                    "rotation": {
                        "roll": 0.004081730265170336,
                        "pitch": -0.24795635044574738,
                        "yaw": 179.59823608398438
                    }
                },
                "velocity": {
                    "x": -1.1644920110702515,
                    "y": 0.007872776128351688,
                    "z": 0.006058750208467245
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.095174789428711,
                "transform": {
                    "location": {
                        "x": 599.90625,
                        "y": 4287.4716796875,
                        "z": 370.20648193359375
                    },
                    "rotation": {
                        "roll": 0.004032639320939779,
                        "pitch": 0.48359784483909607,
                        "yaw": 179.67140197753906
                    }
                },
                "velocity": {
                    "x": -8.094956398010254,
                    "y": 0.046526726335287094,
                    "z": 0.03704031929373741
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.9682536125183105,
                "transform": {
                    "location": {
                        "x": 578.97412109375,
                        "y": 4287.595703125,
                        "z": 370.3382263183594
                    },
                    "rotation": {
                        "roll": 0.00044053755118511617,
                        "pitch": 0.23214446008205414,
                        "yaw": 179.6790008544922
                    }
                },
                "velocity": {
                    "x": -7.968057155609131,
                    "y": 0.04478858783841133,
                    "z": 0.03354723006486893
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.997711181640625,
                "transform": {
                    "location": {
                        "x": 656.8926391601562,
                        "y": 4290.38427734375,
                        "z": 369.9298095703125
                    },
                    "rotation": {
                        "roll": -0.001800536410883069,
                        "pitch": 0.3110399544239044,
                        "yaw": 179.6482696533203
                    }
                },
                "velocity": {
                    "x": -9.997394561767578,
                    "y": 0.058991141617298126,
                    "z": 0.05331617221236229
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.259379386901855,
                "transform": {
                    "location": {
                        "x": 635.1224365234375,
                        "y": 4290.51220703125,
                        "z": 370.04400634765625
                    },
                    "rotation": {
                        "roll": 0.00021486835612449795,
                        "pitch": 0.3113200068473816,
                        "yaw": 179.6562957763672
                    }
                },
                "velocity": {
                    "x": -10.25905990600586,
                    "y": 0.06152058020234108,
                    "z": 0.05260363593697548
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.00777816772461,
                "transform": {
                    "location": {
                        "x": 612.112548828125,
                        "y": 4290.64697265625,
                        "z": 370.1882019042969
                    },
                    "rotation": {
                        "roll": 0.0007041475619189441,
                        "pitch": 0.2765543460845947,
                        "yaw": 179.6417999267578
                    }
                },
                "velocity": {
                    "x": -8.007528305053711,
                    "y": 0.05144504830241203,
                    "z": 0.036902885884046555
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37625,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.512866973876953,
                "transform": {
                    "location": {
                        "x": 682.3053588867188,
                        "y": 4290.234375,
                        "z": 369.7803955078125
                    },
                    "rotation": {
                        "roll": -0.0003967283118981868,
                        "pitch": 0.9393285512924194,
                        "yaw": 179.67245483398438
                    }
                },
                "velocity": {
                    "x": -9.512557983398438,
                    "y": 0.054514236748218536,
                    "z": 0.05387238413095474
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.31037890911102295,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.005643156357109547,
        "expert_target_speed": 9.116569528703717,
        "target_point": [
            35.86706236749924,
            -1.3324936171208597
        ],
        "target_point_next": [
            41.86201894611766,
            -1.5780568966210544
        ]
    },
    "320": {
        "acceleration": [
            -4.098148345947266,
            0.6468358635902405,
            0.014495849609375
        ],
        "angular_velocity": [
            0.10429313033819199,
            -0.08619307726621628,
            -2.868347644805908
        ],
        "forward_vector": [
            -0.9997389912605286,
            -0.01816609501838684,
            0.013855489902198315
        ],
        "right_vector": [
            0.018111567944288254,
            -0.9998277425765991,
            -0.004050797317177057
        ],
        "location": [
            612.9412231445312,
            4287.56201171875,
            370.1438293457031
        ],
        "rotation": [
            0.23211652040481567,
            0.7938864827156067,
            -178.95899963378906
        ],
        "velocity": [
            -10.48322582244873,
            -0.1297416239976883,
            0.04966246336698532
        ],
        "speed": 10.484028640434621,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 15.001968383789062,
        "front_vehicle_info": {
            "id": 37515,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                597.9396362304688,
                4287.4833984375,
                370.2165222167969
            ],
            "velocity": [
                -7.832112789154053,
                0.04481818899512291,
                0.03734259679913521
            ],
            "speed_kmh": 28.19638815000846,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 37661,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.055965423583984,
                "transform": {
                    "location": {
                        "x": 614.2978515625,
                        "y": 4297.3369140625,
                        "z": 370.13861083984375
                    },
                    "rotation": {
                        "roll": 0.00047736443229950964,
                        "pitch": -0.27532491087913513,
                        "yaw": -0.3308716118335724
                    }
                },
                "velocity": {
                    "x": 8.055744171142578,
                    "y": -0.04645390808582306,
                    "z": -0.03750382363796234
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37660,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.017788887023926,
                "transform": {
                    "location": {
                        "x": 613.9620361328125,
                        "y": 4294.08935546875,
                        "z": 370.13824462890625
                    },
                    "rotation": {
                        "roll": 0.001505883876234293,
                        "pitch": -0.27606257796287537,
                        "yaw": -0.3537292182445526
                    }
                },
                "velocity": {
                    "x": 8.017553329467773,
                    "y": -0.04900028929114342,
                    "z": -0.03718775510787964
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37644,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.085599899291992,
                "transform": {
                    "location": {
                        "x": 654.0655517578125,
                        "y": 4297.10107421875,
                        "z": 369.94573974609375
                    },
                    "rotation": {
                        "roll": 0.0007531071314588189,
                        "pitch": -0.3115863800048828,
                        "yaw": -0.3265685737133026
                    }
                },
                "velocity": {
                    "x": 8.08536148071289,
                    "y": -0.04607085511088371,
                    "z": -0.04161584749817848
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37643,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.08694839477539,
                "transform": {
                    "location": {
                        "x": 654.1768798828125,
                        "y": 4293.8515625,
                        "z": 369.9449768066406
                    },
                    "rotation": {
                        "roll": -0.0012512204702943563,
                        "pitch": -0.31161370873451233,
                        "yaw": -0.34033203125
                    }
                },
                "velocity": {
                    "x": 8.086697578430176,
                    "y": -0.048006027936935425,
                    "z": -0.04176899418234825
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37671,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 573.5957641601562,
                        "y": 4297.47705078125,
                        "z": 370.71197509765625
                    },
                    "rotation": {
                        "roll": -5.2110628312451723e-11,
                        "pitch": -0.23092184960842133,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.305917978286743,
                "transform": {
                    "location": {
                        "x": 667.5277709960938,
                        "y": 4287.0751953125,
                        "z": 369.863037109375
                    },
                    "rotation": {
                        "roll": -0.0004272461519576609,
                        "pitch": 0.331441730260849,
                        "yaw": 179.72874450683594
                    }
                },
                "velocity": {
                    "x": -2.305854558944702,
                    "y": 0.01198134757578373,
                    "z": 0.012202872894704342
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00615491159260273,
                "transform": {
                    "location": {
                        "x": 652.8073120117188,
                        "y": 4287.1630859375,
                        "z": 369.95623779296875
                    },
                    "rotation": {
                        "roll": 0.0017291283002123237,
                        "pitch": -0.23733539879322052,
                        "yaw": 179.6280059814453
                    }
                },
                "velocity": {
                    "x": 0.006137003656476736,
                    "y": 0.00030391098698601127,
                    "z": -0.00035743872285820544
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.832330226898193,
                "transform": {
                    "location": {
                        "x": 597.9396362304688,
                        "y": 4287.4833984375,
                        "z": 370.2165222167969
                    },
                    "rotation": {
                        "roll": 0.0017412375891581178,
                        "pitch": 0.24417242407798767,
                        "yaw": 179.68600463867188
                    }
                },
                "velocity": {
                    "x": -7.832112789154053,
                    "y": 0.04481818899512291,
                    "z": 0.03734259679913521
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.065692901611328,
                "transform": {
                    "location": {
                        "x": 576.9690551757812,
                        "y": 4287.607421875,
                        "z": 370.3464660644531
                    },
                    "rotation": {
                        "roll": 0.0004019003245048225,
                        "pitch": 0.24257415533065796,
                        "yaw": 179.6775360107422
                    }
                },
                "velocity": {
                    "x": -8.065496444702148,
                    "y": 0.04540633410215378,
                    "z": 0.03322473540902138
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.682442665100098,
                "transform": {
                    "location": {
                        "x": 654.405517578125,
                        "y": 4290.39990234375,
                        "z": 369.9428405761719
                    },
                    "rotation": {
                        "roll": -0.0010986326960846782,
                        "pitch": 0.32661962509155273,
                        "yaw": 179.67234802246094
                    }
                },
                "velocity": {
                    "x": -9.682126998901367,
                    "y": 0.05817214027047157,
                    "z": 0.052161891013383865
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.89651107788086,
                "transform": {
                    "location": {
                        "x": 632.641845703125,
                        "y": 4290.52783203125,
                        "z": 370.056640625
                    },
                    "rotation": {
                        "roll": 0.00037672376492992043,
                        "pitch": 0.3223370909690857,
                        "yaw": 179.6560516357422
                    }
                },
                "velocity": {
                    "x": -9.896206855773926,
                    "y": 0.05942217633128166,
                    "z": 0.049940720200538635
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.043067932128906,
                "transform": {
                    "location": {
                        "x": 610.1060180664062,
                        "y": 4290.65869140625,
                        "z": 370.19781494140625
                    },
                    "rotation": {
                        "roll": 0.00021896479302085936,
                        "pitch": 0.27371981739997864,
                        "yaw": 179.6402587890625
                    }
                },
                "velocity": {
                    "x": -8.04282283782959,
                    "y": 0.05045550316572189,
                    "z": 0.03747780621051788
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37625,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.56488037109375,
                "transform": {
                    "location": {
                        "x": 679.7862548828125,
                        "y": 4290.2490234375,
                        "z": 369.794677734375
                    },
                    "rotation": {
                        "roll": 0.0001878393959486857,
                        "pitch": 0.8794414401054382,
                        "yaw": 179.67213439941406
                    }
                },
                "velocity": {
                    "x": -10.564544677734375,
                    "y": 0.06052083894610405,
                    "z": 0.05868983268737793
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.0009040836011990905,
        "expert_target_speed": 9.738637281558649,
        "target_point": [
            33.39441881559551,
            -0.7362237945543979
        ],
        "target_point_next": [
            39.392658874078116,
            -0.8808678562150823
        ]
    },
    "325": {
        "acceleration": [
            -3.900127410888672,
            0.06320694833993912,
            0.017556175589561462
        ],
        "angular_velocity": [
            -0.5485430359840393,
            -0.14073242247104645,
            -3.0117666721343994
        ],
        "forward_vector": [
            -0.9999116063117981,
            -0.0010283597512170672,
            0.013254254125058651
        ],
        "right_vector": [
            0.0009766631992533803,
            -0.9999918937683105,
            -0.0039062644354999065
        ],
        "location": [
            610.1901245117188,
            4287.54638671875,
            370.1570739746094
        ],
        "rotation": [
            0.22383268177509308,
            0.7594350576400757,
            -179.94107055664062
        ],
        "velocity": [
            -11.480701446533203,
            0.004300656262785196,
            0.05393977090716362
        ],
        "speed": 11.480702252043377,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 14.260997772216797,
        "front_vehicle_info": {
            "id": 37515,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                595.9293823242188,
                4287.4951171875,
                370.2253723144531
            ],
            "velocity": [
                -8.17540454864502,
                0.0479341596364975,
                0.03707828372716904
            ],
            "speed_kmh": 29.43226494406431,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 37661,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.08326530456543,
                "transform": {
                    "location": {
                        "x": 616.3157958984375,
                        "y": 4297.32470703125,
                        "z": 370.1289367675781
                    },
                    "rotation": {
                        "roll": -0.00018310549785383046,
                        "pitch": -0.27524295449256897,
                        "yaw": -0.3310547173023224
                    }
                },
                "velocity": {
                    "x": 8.083040237426758,
                    "y": -0.04670874401926994,
                    "z": -0.03807848319411278
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37660,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.015809059143066,
                "transform": {
                    "location": {
                        "x": 615.9659423828125,
                        "y": 4294.078125,
                        "z": 370.1286315917969
                    },
                    "rotation": {
                        "roll": 0.0002687657834030688,
                        "pitch": -0.27596694231033325,
                        "yaw": -0.3377380669116974
                    }
                },
                "velocity": {
                    "x": 8.015572547912598,
                    "y": -0.04896426945924759,
                    "z": -0.03740673139691353
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37644,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.067076683044434,
                "transform": {
                    "location": {
                        "x": 656.0846557617188,
                        "y": 4297.08935546875,
                        "z": 369.9349060058594
                    },
                    "rotation": {
                        "roll": 0.0005729770637117326,
                        "pitch": -0.3049679398536682,
                        "yaw": -0.3288574516773224
                    }
                },
                "velocity": {
                    "x": 8.066832542419434,
                    "y": -0.04635973274707794,
                    "z": -0.04227519407868385
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37643,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.066658020019531,
                "transform": {
                    "location": {
                        "x": 656.1962280273438,
                        "y": 4293.83984375,
                        "z": 369.9341735839844
                    },
                    "rotation": {
                        "roll": -0.0010375975398346782,
                        "pitch": -0.30557581782341003,
                        "yaw": -0.340423583984375
                    }
                },
                "velocity": {
                    "x": 8.06640338897705,
                    "y": -0.04791853949427605,
                    "z": -0.04250359907746315
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37671,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.4425504207611084,
                "transform": {
                    "location": {
                        "x": 573.5955200195312,
                        "y": 4297.47705078125,
                        "z": 370.3125
                    },
                    "rotation": {
                        "roll": -0.0005493165226653218,
                        "pitch": -0.23053252696990967,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": -0.005782414693385363,
                    "y": -8.70504736667499e-05,
                    "z": -1.442538857460022
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37672,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.078325033187866,
                "transform": {
                    "location": {
                        "x": 573.576416015625,
                        "y": 4294.22705078125,
                        "z": 370.411865234375
                    },
                    "rotation": {
                        "roll": -0.00015258790517691523,
                        "pitch": -0.2312018871307373,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": -0.008016936480998993,
                    "y": -0.00012391804193612188,
                    "z": -2.0783095359802246
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.0803956985473633,
                "transform": {
                    "location": {
                        "x": 666.8502807617188,
                        "y": 4287.0791015625,
                        "z": 369.86669921875
                    },
                    "rotation": {
                        "roll": -0.00036621085018850863,
                        "pitch": 0.3316330015659332,
                        "yaw": 179.71678161621094
                    }
                },
                "velocity": {
                    "x": -3.080310344696045,
                    "y": 0.015794284641742706,
                    "z": 0.01659245416522026
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.002241684589534998,
                "transform": {
                    "location": {
                        "x": 652.8026733398438,
                        "y": 4287.1630859375,
                        "z": 369.9514465332031
                    },
                    "rotation": {
                        "roll": -0.0018310546875,
                        "pitch": 0.35700714588165283,
                        "yaw": 179.62799072265625
                    }
                },
                "velocity": {
                    "x": 0.002175986533984542,
                    "y": -1.9690853150677867e-05,
                    "z": -0.0005383723764680326
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.175629615783691,
                "transform": {
                    "location": {
                        "x": 595.9293823242188,
                        "y": 4287.4951171875,
                        "z": 370.2253723144531
                    },
                    "rotation": {
                        "roll": 0.0010661104461178184,
                        "pitch": 0.3493163585662842,
                        "yaw": 179.658203125
                    }
                },
                "velocity": {
                    "x": -8.17540454864502,
                    "y": 0.0479341596364975,
                    "z": 0.03707828372716904
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.006094932556152,
                "transform": {
                    "location": {
                        "x": 574.958984375,
                        "y": 4287.619140625,
                        "z": 370.35467529296875
                    },
                    "rotation": {
                        "roll": 8.933680510381237e-05,
                        "pitch": 0.23200102150440216,
                        "yaw": 179.67706298828125
                    }
                },
                "velocity": {
                    "x": -8.005903244018555,
                    "y": 0.04503679648041725,
                    "z": 0.032262228429317474
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.454651832580566,
                "transform": {
                    "location": {
                        "x": 652.0413818359375,
                        "y": 4290.41357421875,
                        "z": 369.9555358886719
                    },
                    "rotation": {
                        "roll": -0.00045776375918649137,
                        "pitch": 0.3294336795806885,
                        "yaw": 179.64239501953125
                    }
                },
                "velocity": {
                    "x": -9.454352378845215,
                    "y": 0.05645538121461868,
                    "z": 0.049642618745565414
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.102155685424805,
                "transform": {
                    "location": {
                        "x": 630.1082153320312,
                        "y": 4290.54345703125,
                        "z": 370.06976318359375
                    },
                    "rotation": {
                        "roll": 0.00011219389853067696,
                        "pitch": 0.27606257796287537,
                        "yaw": 179.65843200683594
                    }
                },
                "velocity": {
                    "x": -10.101851463317871,
                    "y": 0.058350976556539536,
                    "z": 0.05240483209490776
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.00776481628418,
                "transform": {
                    "location": {
                        "x": 608.0999145507812,
                        "y": 4290.67041015625,
                        "z": 370.2072448730469
                    },
                    "rotation": {
                        "roll": -0.00012207026884425431,
                        "pitch": 0.2719234824180603,
                        "yaw": 179.64004516601562
                    }
                },
                "velocity": {
                    "x": -8.007521629333496,
                    "y": 0.05028286948800087,
                    "z": 0.0369129441678524
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37625,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 11.552494049072266,
                "transform": {
                    "location": {
                        "x": 677.0170288085938,
                        "y": 4290.26513671875,
                        "z": 369.8102722167969
                    },
                    "rotation": {
                        "roll": 0.000552825687918812,
                        "pitch": 0.8145614862442017,
                        "yaw": 179.6686553955078
                    }
                },
                "velocity": {
                    "x": -11.552124977111816,
                    "y": 0.06681601703166962,
                    "z": 0.06376920640468597
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.019173776730895042,
        "expert_target_speed": 10.0,
        "target_point": [
            30.651018709102193,
            -0.1765457144119643
        ],
        "target_point_next": [
            36.65085680294667,
            -0.21836139821480768
        ]
    },
    "330": {
        "acceleration": [
            -0.11638641357421875,
            -0.012113358825445175,
            -0.024585947394371033
        ],
        "angular_velocity": [
            -0.41978827118873596,
            -1.147497534751892,
            1.6060516834259033
        ],
        "forward_vector": [
            -0.9999311566352844,
            0.001194546464830637,
            0.011671039275825024
        ],
        "right_vector": [
            -0.0012135234428569674,
            -0.9999979734420776,
            -0.0016190368914976716
        ],
        "location": [
            607.2113037109375,
            4287.5478515625,
            370.1715087890625
        ],
        "rotation": [
            0.09277034550905228,
            0.6687164902687073,
            179.93154907226562
        ],
        "velocity": [
            -12.135689735412598,
            0.008303318172693253,
            0.055970896035432816
        ],
        "speed": 12.135692576004525,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 13.303925514221191,
        "front_vehicle_info": {
            "id": 37515,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                593.9075927734375,
                4287.5068359375,
                370.23492431640625
            ],
            "velocity": [
                -7.976308345794678,
                0.04717598855495453,
                0.036473024636507034
            ],
            "speed_kmh": 28.715512477521706,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 37661,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.049388885498047,
                "transform": {
                    "location": {
                        "x": 618.3318481445312,
                        "y": 4297.3134765625,
                        "z": 370.1192626953125
                    },
                    "rotation": {
                        "roll": 0.0004389740352053195,
                        "pitch": -0.2752975821495056,
                        "yaw": -0.3342895209789276
                    }
                },
                "velocity": {
                    "x": 8.049163818359375,
                    "y": -0.04729598015546799,
                    "z": -0.037283673882484436
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37660,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.019393920898438,
                "transform": {
                    "location": {
                        "x": 617.9703369140625,
                        "y": 4294.06640625,
                        "z": 370.1189880371094
                    },
                    "rotation": {
                        "roll": 0.0003531185502652079,
                        "pitch": -0.27511999011039734,
                        "yaw": -0.3634338080883026
                    }
                },
                "velocity": {
                    "x": 8.019153594970703,
                    "y": -0.04985680803656578,
                    "z": -0.03697643056511879
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37644,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.094703674316406,
                "transform": {
                    "location": {
                        "x": 658.1051635742188,
                        "y": 4297.07763671875,
                        "z": 369.9242248535156
                    },
                    "rotation": {
                        "roll": 0.00013946591934654862,
                        "pitch": -0.3081371486186981,
                        "yaw": -0.3322448134422302
                    }
                },
                "velocity": {
                    "x": 8.094444274902344,
                    "y": -0.04702416807413101,
                    "z": -0.04455859959125519
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37643,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.094427108764648,
                "transform": {
                    "location": {
                        "x": 658.2166137695312,
                        "y": 4293.828125,
                        "z": 369.9234619140625
                    },
                    "rotation": {
                        "roll": 0.00019635961507447064,
                        "pitch": -0.3081371486186981,
                        "yaw": -0.3404540717601776
                    }
                },
                "velocity": {
                    "x": 8.09416389465332,
                    "y": -0.048065297305583954,
                    "z": -0.0441809743642807
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37671,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.2549077868461609,
                "transform": {
                    "location": {
                        "x": 573.5952758789062,
                        "y": 4297.47705078125,
                        "z": 370.2759704589844
                    },
                    "rotation": {
                        "roll": -0.0003051758394576609,
                        "pitch": -0.23028664290905,
                        "yaw": -0.33868408203125
                    }
                },
                "velocity": {
                    "x": 0.0010312278755009174,
                    "y": 1.0538873539189808e-05,
                    "z": 0.25490570068359375
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37672,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.1397867649793625,
                "transform": {
                    "location": {
                        "x": 573.5760498046875,
                        "y": 4294.22705078125,
                        "z": 370.3302001953125
                    },
                    "rotation": {
                        "roll": -0.0007019044714979827,
                        "pitch": -0.2320898175239563,
                        "yaw": -0.33868408203125
                    }
                },
                "velocity": {
                    "x": 0.0005693727871403098,
                    "y": -0.00021341895626392215,
                    "z": 0.13978545367717743
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.828958749771118,
                "transform": {
                    "location": {
                        "x": 665.9822387695312,
                        "y": 4287.0830078125,
                        "z": 369.8714294433594
                    },
                    "rotation": {
                        "roll": 2.0587938706739806e-05,
                        "pitch": 0.3310728967189789,
                        "yaw": 179.71664428710938
                    }
                },
                "velocity": {
                    "x": -3.828850269317627,
                    "y": 0.020181620493531227,
                    "z": 0.020606832578778267
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.000938688637688756,
                "transform": {
                    "location": {
                        "x": 652.8025512695312,
                        "y": 4287.1630859375,
                        "z": 369.9513244628906
                    },
                    "rotation": {
                        "roll": -0.0018005369929596782,
                        "pitch": 0.3762272894382477,
                        "yaw": 179.62799072265625
                    }
                },
                "velocity": {
                    "x": -0.0007904947269707918,
                    "y": 3.0071782020968385e-05,
                    "z": -0.0005053217755630612
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.976531028747559,
                "transform": {
                    "location": {
                        "x": 593.9075927734375,
                        "y": 4287.5068359375,
                        "z": 370.23492431640625
                    },
                    "rotation": {
                        "roll": 0.0014256907161325216,
                        "pitch": 0.25437670946121216,
                        "yaw": 179.67530822753906
                    }
                },
                "velocity": {
                    "x": -7.976308345794678,
                    "y": 0.04717598855495453,
                    "z": 0.036473024636507034
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.03622817993164,
                "transform": {
                    "location": {
                        "x": 572.9552612304688,
                        "y": 4287.63134765625,
                        "z": 370.36273193359375
                    },
                    "rotation": {
                        "roll": -0.000213623046875,
                        "pitch": 0.230150043964386,
                        "yaw": 179.67726135253906
                    }
                },
                "velocity": {
                    "x": -8.036032676696777,
                    "y": 0.04532986879348755,
                    "z": 0.033017922192811966
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.583761215209961,
                "transform": {
                    "location": {
                        "x": 649.6401977539062,
                        "y": 4290.42724609375,
                        "z": 369.968505859375
                    },
                    "rotation": {
                        "roll": 0.00044357706792652607,
                        "pitch": 0.2944972515106201,
                        "yaw": 179.67442321777344
                    }
                },
                "velocity": {
                    "x": -9.583475112915039,
                    "y": 0.05531810596585274,
                    "z": 0.049161460250616074
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.821516036987305,
                "transform": {
                    "location": {
                        "x": 627.7449340820312,
                        "y": 4290.55712890625,
                        "z": 370.0807800292969
                    },
                    "rotation": {
                        "roll": 4.959210491506383e-05,
                        "pitch": 0.383897602558136,
                        "yaw": 179.66049194335938
                    }
                },
                "velocity": {
                    "x": -8.82125186920166,
                    "y": 0.05225902423262596,
                    "z": 0.043966539204120636
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.043540000915527,
                "transform": {
                    "location": {
                        "x": 606.0933227539062,
                        "y": 4290.68212890625,
                        "z": 370.21673583984375
                    },
                    "rotation": {
                        "roll": -3.051759267691523e-05,
                        "pitch": 0.27282506227493286,
                        "yaw": 179.64022827148438
                    }
                },
                "velocity": {
                    "x": -8.043292999267578,
                    "y": 0.05047115683555603,
                    "z": 0.037731532007455826
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37625,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 11.958649635314941,
                "transform": {
                    "location": {
                        "x": 674.0327758789062,
                        "y": 4290.2822265625,
                        "z": 369.8273620605469
                    },
                    "rotation": {
                        "roll": -0.00012207030522404239,
                        "pitch": 0.6642153859138489,
                        "yaw": 179.6681671142578
                    }
                },
                "velocity": {
                    "x": -11.958267211914062,
                    "y": 0.0692836344242096,
                    "z": 0.06580619513988495
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.0033596763387322426,
        "expert_target_speed": 10.0,
        "target_point": [
            27.67251501155305,
            -0.1105009192165701
        ],
        "target_point_next": [
            33.672431237227585,
            -0.13897878161309876
        ]
    },
    "335": {
        "acceleration": [
            2.7045249938964844,
            0.44581592082977295,
            0.0001023709774017334
        ],
        "angular_velocity": [
            0.19386887550354004,
            -1.3308773040771484,
            -3.549539566040039
        ],
        "forward_vector": [
            -0.9999658465385437,
            0.006475707516074181,
            0.005135156214237213
        ],
        "right_vector": [
            -0.006485729943960905,
            -0.9999771118164062,
            -0.0019375337287783623
        ],
        "location": [
            604.2394409179688,
            4287.56103515625,
            370.18682861328125
        ],
        "rotation": [
            0.11101403087377548,
            0.2942240536212921,
            179.62896728515625
        ],
        "velocity": [
            -11.609187126159668,
            0.09910938143730164,
            0.05586863309144974
        ],
        "speed": 11.60961017432025,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 12.320639610290527,
        "front_vehicle_info": {
            "id": 37515,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                591.9190063476562,
                4287.5185546875,
                370.2438049316406
            ],
            "velocity": [
                -8.000975608825684,
                0.04872417822480202,
                0.03710468113422394
            ],
            "speed_kmh": 28.8043560071605,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 37661,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.086799621582031,
                "transform": {
                    "location": {
                        "x": 620.3491821289062,
                        "y": 4297.30126953125,
                        "z": 370.1095275878906
                    },
                    "rotation": {
                        "roll": -0.0013427735539153218,
                        "pitch": -0.2796962261199951,
                        "yaw": -0.3363341987133026
                    }
                },
                "velocity": {
                    "x": 8.086563110351562,
                    "y": -0.047453198581933975,
                    "z": -0.03971650451421738
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37660,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.020277976989746,
                "transform": {
                    "location": {
                        "x": 619.9751586914062,
                        "y": 4294.0546875,
                        "z": 370.1092834472656
                    },
                    "rotation": {
                        "roll": -6.1035112594254315e-05,
                        "pitch": -0.2788082957267761,
                        "yaw": -0.3458556830883026
                    }
                },
                "velocity": {
                    "x": 8.020030975341797,
                    "y": -0.04967043921351433,
                    "z": -0.03863515704870224
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37644,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.060675621032715,
                "transform": {
                    "location": {
                        "x": 660.1242065429688,
                        "y": 4297.06591796875,
                        "z": 369.91326904296875
                    },
                    "rotation": {
                        "roll": -0.00033569333027116954,
                        "pitch": -0.313628613948822,
                        "yaw": -0.3333129286766052
                    }
                },
                "velocity": {
                    "x": 8.060415267944336,
                    "y": -0.04684964194893837,
                    "z": -0.044692881405353546
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37643,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.061453819274902,
                "transform": {
                    "location": {
                        "x": 660.2357788085938,
                        "y": 4293.81640625,
                        "z": 369.9125671386719
                    },
                    "rotation": {
                        "roll": 0.0011794506572186947,
                        "pitch": -0.31249478459358215,
                        "yaw": -0.340362548828125
                    }
                },
                "velocity": {
                    "x": 8.061186790466309,
                    "y": -0.04786686226725578,
                    "z": -0.04489058256149292
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37671,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.061892811208963394,
                "transform": {
                    "location": {
                        "x": 573.5952758789062,
                        "y": 4297.47705078125,
                        "z": 370.3155517578125
                    },
                    "rotation": {
                        "roll": -0.0007629395113326609,
                        "pitch": -0.2296719253063202,
                        "yaw": -0.3386840522289276
                    }
                },
                "velocity": {
                    "x": 0.0002569967182353139,
                    "y": -7.891550194472075e-05,
                    "z": 0.061892230063676834
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37672,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.8883122205734253,
                "transform": {
                    "location": {
                        "x": 573.6409912109375,
                        "y": 4294.22705078125,
                        "z": 370.35302734375
                    },
                    "rotation": {
                        "roll": -0.0031127932015806437,
                        "pitch": -0.15795494616031647,
                        "yaw": -0.302398681640625
                    }
                },
                "velocity": {
                    "x": 0.8872296810150146,
                    "y": 0.006243767216801643,
                    "z": 0.04339528828859329
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.5628862380981445,
                "transform": {
                    "location": {
                        "x": 664.9300537109375,
                        "y": 4287.0888671875,
                        "z": 369.8772277832031
                    },
                    "rotation": {
                        "roll": -0.00012207032705191523,
                        "pitch": 0.3295975923538208,
                        "yaw": 179.70034790039062
                    }
                },
                "velocity": {
                    "x": -4.562754154205322,
                    "y": 0.025160955265164375,
                    "z": 0.023922480642795563
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00021468209160957485,
                "transform": {
                    "location": {
                        "x": 652.8031005859375,
                        "y": 4287.1630859375,
                        "z": 369.95172119140625
                    },
                    "rotation": {
                        "roll": -0.0024414057843387127,
                        "pitch": 0.32480278611183167,
                        "yaw": 179.6280059814453
                    }
                },
                "velocity": {
                    "x": -0.00021388735331129283,
                    "y": 1.713991878204979e-05,
                    "z": -6.842979928478599e-06
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.001209259033203,
                "transform": {
                    "location": {
                        "x": 591.9190063476562,
                        "y": 4287.5185546875,
                        "z": 370.2438049316406
                    },
                    "rotation": {
                        "roll": 0.001532669411972165,
                        "pitch": 0.2528877258300781,
                        "yaw": 179.64590454101562
                    }
                },
                "velocity": {
                    "x": -8.000975608825684,
                    "y": 0.04872417822480202,
                    "z": 0.03710468113422394
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.016998291015625,
                "transform": {
                    "location": {
                        "x": 570.9481811523438,
                        "y": 4287.642578125,
                        "z": 370.3707275390625
                    },
                    "rotation": {
                        "roll": 0.0005072099156677723,
                        "pitch": 0.2315434068441391,
                        "yaw": 179.67713928222656
                    }
                },
                "velocity": {
                    "x": -8.016803741455078,
                    "y": 0.04513895511627197,
                    "z": 0.03281036391854286
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.959695816040039,
                "transform": {
                    "location": {
                        "x": 647.2146606445312,
                        "y": 4290.44091796875,
                        "z": 369.9814453125
                    },
                    "rotation": {
                        "roll": 0.0012312650214880705,
                        "pitch": 0.27105605602264404,
                        "yaw": 179.6528778076172
                    }
                },
                "velocity": {
                    "x": -9.959389686584473,
                    "y": 0.05772409960627556,
                    "z": 0.0526319295167923
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.099807262420654,
                "transform": {
                    "location": {
                        "x": 625.7385864257812,
                        "y": 4290.56884765625,
                        "z": 370.0901184082031
                    },
                    "rotation": {
                        "roll": 0.00029841484501957893,
                        "pitch": 0.45693281292915344,
                        "yaw": 179.64219665527344
                    }
                },
                "velocity": {
                    "x": -7.099611759185791,
                    "y": 0.03841571509838104,
                    "z": 0.03606089577078819
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.008440017700195,
                "transform": {
                    "location": {
                        "x": 604.0872802734375,
                        "y": 4290.69384765625,
                        "z": 370.2261962890625
                    },
                    "rotation": {
                        "roll": -0.00033569333027116954,
                        "pitch": 0.27204641699790955,
                        "yaw": 179.6399688720703
                    }
                },
                "velocity": {
                    "x": -8.008197784423828,
                    "y": 0.05033324658870697,
                    "z": 0.03677235543727875
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37625,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 11.148530960083008,
                "transform": {
                    "location": {
                        "x": 671.1767578125,
                        "y": 4290.2998046875,
                        "z": 369.8447570800781
                    },
                    "rotation": {
                        "roll": 0.003246244043111801,
                        "pitch": 0.21130554378032684,
                        "yaw": 179.65953063964844
                    }
                },
                "velocity": {
                    "x": -11.148164749145508,
                    "y": 0.06736733019351959,
                    "z": 0.060112349689006805
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.013925720937550068,
        "expert_target_speed": 9.822479384773064,
        "target_point": [
            24.7008268321499,
            0.029577048725520805
        ],
        "target_point_next": [
            30.700809783287678,
            0.03278482290859511
        ]
    },
    "340": {
        "acceleration": [
            0.09908676147460938,
            0.4771193861961365,
            0.003229305148124695
        ],
        "angular_velocity": [
            0.0942160114645958,
            0.1991749256849289,
            -1.1843289136886597
        ],
        "forward_vector": [
            -0.9998131394386292,
            0.01922762580215931,
            0.0019818530417978764
        ],
        "right_vector": [
            -0.01923338882625103,
            -0.9998106956481934,
            -0.0029309564270079136
        ],
        "location": [
            601.422119140625,
            4287.6025390625,
            370.2008056640625
        ],
        "rotation": [
            0.16793200373649597,
            0.11355189234018326,
            178.8982696533203
        ],
        "velocity": [
            -11.101122856140137,
            0.23825785517692566,
            0.052826497703790665
        ],
        "speed": 11.103679366438426,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 11.519447326660156,
        "front_vehicle_info": {
            "id": 37515,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                589.9030151367188,
                4287.5302734375,
                370.252685546875
            ],
            "velocity": [
                -8.07370662689209,
                0.04685676842927933,
                0.036816321313381195
            ],
            "speed_kmh": 29.066135526625754,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 37661,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.049375534057617,
                "transform": {
                    "location": {
                        "x": 622.365966796875,
                        "y": 4297.2900390625,
                        "z": 370.099609375
                    },
                    "rotation": {
                        "roll": -0.0009765625,
                        "pitch": -0.28436124324798584,
                        "yaw": -0.33648681640625
                    }
                },
                "velocity": {
                    "x": 8.04913330078125,
                    "y": -0.047279827296733856,
                    "z": -0.04080551862716675
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37660,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.019689559936523,
                "transform": {
                    "location": {
                        "x": 621.9800415039062,
                        "y": 4294.04296875,
                        "z": 370.09954833984375
                    },
                    "rotation": {
                        "roll": 0.0003662686503957957,
                        "pitch": -0.2845729887485504,
                        "yaw": -0.3681029677391052
                    }
                },
                "velocity": {
                    "x": 8.019430160522461,
                    "y": -0.04992542043328285,
                    "z": -0.04083288088440895
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37644,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.093496322631836,
                "transform": {
                    "location": {
                        "x": 662.1435546875,
                        "y": 4297.05419921875,
                        "z": 369.90234375
                    },
                    "rotation": {
                        "roll": -0.0005187987117096782,
                        "pitch": -0.31140196323394775,
                        "yaw": -0.3334655463695526
                    }
                },
                "velocity": {
                    "x": 8.09323501586914,
                    "y": -0.047089703381061554,
                    "z": -0.044785354286432266
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37643,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.092961311340332,
                "transform": {
                    "location": {
                        "x": 662.255126953125,
                        "y": 4293.8046875,
                        "z": 369.9015808105469
                    },
                    "rotation": {
                        "roll": 0.0012578555615618825,
                        "pitch": -0.3109443485736847,
                        "yaw": -0.34564208984375
                    }
                },
                "velocity": {
                    "x": 8.09268856048584,
                    "y": -0.04893595725297928,
                    "z": -0.044996559619903564
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37671,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.2545669078826904,
                "transform": {
                    "location": {
                        "x": 573.7752075195312,
                        "y": 4297.4775390625,
                        "z": 370.31884765625
                    },
                    "rotation": {
                        "roll": -0.002197265625,
                        "pitch": -0.19620400667190552,
                        "yaw": -0.2667846381664276
                    }
                },
                "velocity": {
                    "x": 1.254526138305664,
                    "y": 0.007542159408330917,
                    "z": -0.006749200634658337
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37672,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.8804450035095215,
                "transform": {
                    "location": {
                        "x": 574.0043334960938,
                        "y": 4294.228515625,
                        "z": 370.3567199707031
                    },
                    "rotation": {
                        "roll": -0.004150389693677425,
                        "pitch": -0.1264677792787552,
                        "yaw": -0.1752929538488388
                    }
                },
                "velocity": {
                    "x": 1.880393624305725,
                    "y": 0.013894137926399708,
                    "z": 0.00023843764211051166
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.812079906463623,
                "transform": {
                    "location": {
                        "x": 663.8335571289062,
                        "y": 4287.0947265625,
                        "z": 369.88336181640625
                    },
                    "rotation": {
                        "roll": 0.00020806118845939636,
                        "pitch": 0.30005019903182983,
                        "yaw": 179.6914825439453
                    }
                },
                "velocity": {
                    "x": -3.8119611740112305,
                    "y": 0.021611906588077545,
                    "z": 0.020928392186760902
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00028443365590646863,
                "transform": {
                    "location": {
                        "x": 652.80322265625,
                        "y": 4287.1630859375,
                        "z": 369.9518737792969
                    },
                    "rotation": {
                        "roll": -0.0013732907827943563,
                        "pitch": 0.30632030963897705,
                        "yaw": 179.62802124023438
                    }
                },
                "velocity": {
                    "x": -5.034219429944642e-05,
                    "y": -1.8691531295189634e-05,
                    "z": 0.0002793184539768845
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.07392692565918,
                "transform": {
                    "location": {
                        "x": 589.9030151367188,
                        "y": 4287.5302734375,
                        "z": 370.252685546875
                    },
                    "rotation": {
                        "roll": -0.0014343260554596782,
                        "pitch": 0.28042706847190857,
                        "yaw": 179.67401123046875
                    }
                },
                "velocity": {
                    "x": -8.07370662689209,
                    "y": 0.04685676842927933,
                    "z": 0.036816321313381195
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.040996551513672,
                "transform": {
                    "location": {
                        "x": 568.94091796875,
                        "y": 4287.654296875,
                        "z": 370.3786926269531
                    },
                    "rotation": {
                        "roll": 0.0011188553180545568,
                        "pitch": 0.2252323031425476,
                        "yaw": 179.67236328125
                    }
                },
                "velocity": {
                    "x": -8.040789604187012,
                    "y": 0.04757273942232132,
                    "z": 0.0326252356171608
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.858009338378906,
                "transform": {
                    "location": {
                        "x": 644.6878662109375,
                        "y": 4290.4560546875,
                        "z": 369.9945373535156
                    },
                    "rotation": {
                        "roll": 0.0008918509702198207,
                        "pitch": 0.29830166697502136,
                        "yaw": 179.67605590820312
                    }
                },
                "velocity": {
                    "x": -9.857695579528809,
                    "y": 0.05842914804816246,
                    "z": 0.0526624396443367
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.085180759429932,
                "transform": {
                    "location": {
                        "x": 623.9929809570312,
                        "y": 4290.5791015625,
                        "z": 370.0999450683594
                    },
                    "rotation": {
                        "roll": -6.103515625e-05,
                        "pitch": 0.31601235270500183,
                        "yaw": 179.72872924804688
                    }
                },
                "velocity": {
                    "x": -7.085000514984131,
                    "y": 0.037392616271972656,
                    "z": 0.033916499465703964
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.047093391418457,
                "transform": {
                    "location": {
                        "x": 602.0806884765625,
                        "y": 4290.7060546875,
                        "z": 370.2356872558594
                    },
                    "rotation": {
                        "roll": 0.0002673294802661985,
                        "pitch": 0.27098774909973145,
                        "yaw": 179.6407470703125
                    }
                },
                "velocity": {
                    "x": -8.046844482421875,
                    "y": 0.05047702044248581,
                    "z": 0.03817916661500931
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37625,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.460681915283203,
                "transform": {
                    "location": {
                        "x": 668.4556274414062,
                        "y": 4290.3154296875,
                        "z": 369.860107421875
                    },
                    "rotation": {
                        "roll": 0.0007825575303286314,
                        "pitch": 0.08532271534204483,
                        "yaw": 179.6546173095703
                    }
                },
                "velocity": {
                    "x": -10.460333824157715,
                    "y": 0.06299368292093277,
                    "z": 0.057526178658008575
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.06526966392993927,
        "expert_target_speed": 9.39460410139201,
        "target_point": [
            21.88084203990082,
            0.3319028423368673
        ],
        "target_point_next": [
            27.880296173594555,
            0.4116261229037165
        ]
    },
    "345": {
        "acceleration": [
            6.067161560058594,
            -0.035695433616638184,
            -0.02740040421485901
        ],
        "angular_velocity": [
            -0.36864861845970154,
            -0.9598577618598938,
            -2.1084201335906982
        ],
        "forward_vector": [
            -0.9996157288551331,
            0.027394350618124008,
            -0.004235493019223213
        ],
        "right_vector": [
            -0.027386024594306946,
            -0.9996228814125061,
            -0.0020111266057938337
        ],
        "location": [
            598.8707275390625,
            4287.66357421875,
            370.21405029296875
        ],
        "rotation": [
            0.11523018032312393,
            -0.24267660081386566,
            178.43020629882812
        ],
        "velocity": [
            -9.34267520904541,
            0.2518395185470581,
            0.04341414198279381
        ],
        "speed": 9.346068863688824,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 10.974104881286621,
        "front_vehicle_info": {
            "id": 37515,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                587.8973999023438,
                4287.5419921875,
                370.2616271972656
            ],
            "velocity": [
                -7.9900054931640625,
                0.04703408107161522,
                0.03677266091108322
            ],
            "speed_kmh": 28.76482276489069,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 37661,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084404945373535,
                "transform": {
                    "location": {
                        "x": 624.3826904296875,
                        "y": 4297.27783203125,
                        "z": 370.089599609375
                    },
                    "rotation": {
                        "roll": -0.000152587890625,
                        "pitch": -0.2830840051174164,
                        "yaw": -0.33856201171875
                    }
                },
                "velocity": {
                    "x": 8.084156036376953,
                    "y": -0.047902725636959076,
                    "z": -0.04159592464566231
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37660,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.019574165344238,
                "transform": {
                    "location": {
                        "x": 623.9849243164062,
                        "y": 4294.03125,
                        "z": 370.0895690917969
                    },
                    "rotation": {
                        "roll": 0.0007133253384381533,
                        "pitch": -0.28391045331954956,
                        "yaw": -0.3455505669116974
                    }
                },
                "velocity": {
                    "x": 8.019315719604492,
                    "y": -0.049694985151290894,
                    "z": -0.040979888290166855
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37644,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.06423568725586,
                "transform": {
                    "location": {
                        "x": 664.1629028320312,
                        "y": 4297.04248046875,
                        "z": 369.891357421875
                    },
                    "rotation": {
                        "roll": -0.0006408692570403218,
                        "pitch": -0.31192106008529663,
                        "yaw": -0.3333739936351776
                    }
                },
                "velocity": {
                    "x": 8.06397533416748,
                    "y": -0.04693985730409622,
                    "z": -0.04463837668299675
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37643,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.063892364501953,
                "transform": {
                    "location": {
                        "x": 664.2745361328125,
                        "y": 4293.79296875,
                        "z": 369.8906555175781
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": -0.31259042024612427,
                        "yaw": -0.347015380859375
                    }
                },
                "velocity": {
                    "x": 8.063621520996094,
                    "y": -0.048840396106243134,
                    "z": -0.044563282281160355
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37671,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.877974271774292,
                "transform": {
                    "location": {
                        "x": 574.177734375,
                        "y": 4297.47900390625,
                        "z": 370.3166198730469
                    },
                    "rotation": {
                        "roll": -0.0016784666804596782,
                        "pitch": -0.2056911289691925,
                        "yaw": -0.1697082668542862
                    }
                },
                "velocity": {
                    "x": 1.8779057264328003,
                    "y": 0.012637032195925713,
                    "z": -0.009883136488497257
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37672,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.0338263511657715,
                "transform": {
                    "location": {
                        "x": 574.6172485351562,
                        "y": 4294.23193359375,
                        "z": 370.3548278808594
                    },
                    "rotation": {
                        "roll": -0.005004882346838713,
                        "pitch": -0.11202875524759293,
                        "yaw": -0.00787353329360485
                    }
                },
                "velocity": {
                    "x": 3.033724546432495,
                    "y": 0.02225439064204693,
                    "z": -0.011106586083769798
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.3193469047546387,
                "transform": {
                    "location": {
                        "x": 663.0773315429688,
                        "y": 4287.0986328125,
                        "z": 369.8876953125
                    },
                    "rotation": {
                        "roll": 0.0009147407836280763,
                        "pitch": 0.27692317962646484,
                        "yaw": 179.68409729003906
                    }
                },
                "velocity": {
                    "x": -2.319272994995117,
                    "y": 0.012989751994609833,
                    "z": 0.013198490254580975
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00020815311290789396,
                "transform": {
                    "location": {
                        "x": 652.80322265625,
                        "y": 4287.1630859375,
                        "z": 369.9518737792969
                    },
                    "rotation": {
                        "roll": -0.0016479489859193563,
                        "pitch": 0.30618369579315186,
                        "yaw": 179.62803649902344
                    }
                },
                "velocity": {
                    "x": 1.9612349205999635e-05,
                    "y": 1.0852776540559717e-05,
                    "z": -0.00020694272825494409
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.990228176116943,
                "transform": {
                    "location": {
                        "x": 587.8973999023438,
                        "y": 4287.5419921875,
                        "z": 370.2616271972656
                    },
                    "rotation": {
                        "roll": -0.00012207035615574569,
                        "pitch": 0.24381041526794434,
                        "yaw": 179.64923095703125
                    }
                },
                "velocity": {
                    "x": -7.9900054931640625,
                    "y": 0.04703408107161522,
                    "z": 0.03677266091108322
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.007535934448242,
                "transform": {
                    "location": {
                        "x": 566.935546875,
                        "y": 4287.666015625,
                        "z": 370.3865051269531
                    },
                    "rotation": {
                        "roll": 0.0009662992088124156,
                        "pitch": 0.22450147569179535,
                        "yaw": 179.66943359375
                    }
                },
                "velocity": {
                    "x": -8.007341384887695,
                    "y": 0.04618050530552864,
                    "z": 0.03136782720685005
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.70082950592041,
                "transform": {
                    "location": {
                        "x": 642.3878173828125,
                        "y": 4290.4697265625,
                        "z": 370.00579833984375
                    },
                    "rotation": {
                        "roll": 0.0012698110658675432,
                        "pitch": 0.3975989520549774,
                        "yaw": 179.647705078125
                    }
                },
                "velocity": {
                    "x": -8.700550079345703,
                    "y": 0.05299856886267662,
                    "z": 0.04538029432296753
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.664207458496094,
                "transform": {
                    "location": {
                        "x": 622.1355590820312,
                        "y": 4290.58935546875,
                        "z": 370.1097106933594
                    },
                    "rotation": {
                        "roll": -0.00015258784696925431,
                        "pitch": 0.23199419677257538,
                        "yaw": 179.6689453125
                    }
                },
                "velocity": {
                    "x": -7.663976669311523,
                    "y": 0.04581259936094284,
                    "z": 0.037924669682979584
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.10232162475586,
                "transform": {
                    "location": {
                        "x": 600.0616455078125,
                        "y": 4290.71923828125,
                        "z": 370.2451171875
                    },
                    "rotation": {
                        "roll": 0.0004773619002662599,
                        "pitch": 0.27511999011039734,
                        "yaw": 179.63671875
                    }
                },
                "velocity": {
                    "x": -8.102071762084961,
                    "y": 0.051339201629161835,
                    "z": 0.037672270089387894
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37625,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.846020698547363,
                "transform": {
                    "location": {
                        "x": 666.0625,
                        "y": 4290.330078125,
                        "z": 369.87432861328125
                    },
                    "rotation": {
                        "roll": 7.94286752352491e-05,
                        "pitch": -0.22778679430484772,
                        "yaw": 179.6532745361328
                    }
                },
                "velocity": {
                    "x": -8.845728874206543,
                    "y": 0.05350048467516899,
                    "z": 0.04807581007480621
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.11693517863750458,
        "expert_target_speed": 8.392370977500276,
        "target_point": [
            19.325294493263012,
            0.5017571253297298
        ],
        "target_point_next": [
            25.323897173940818,
            0.63048778649591
        ]
    },
    "350": {
        "acceleration": [
            2.9266738891601562,
            -0.235002338886261,
            -0.025822818279266357
        ],
        "angular_velocity": [
            -0.21729741990566254,
            0.5909737348556519,
            3.703867197036743
        ],
        "forward_vector": [
            -0.9996702075004578,
            0.025298185646533966,
            -0.00441382871940732
        ],
        "right_vector": [
            -0.02529698796570301,
            -0.9996799230575562,
            -0.00032657961128279567
        ],
        "location": [
            596.6889038085938,
            4287.7197265625,
            370.22418212890625
        ],
        "rotation": [
            0.018711814656853676,
            -0.2528945803642273,
            178.55035400390625
        ],
        "velocity": [
            -8.275856971740723,
            0.19520528614521027,
            0.037941865622997284
        ],
        "speed": 8.278158836386782,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 10.795198440551758,
        "front_vehicle_info": {
            "id": 37515,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                585.8950805664062,
                4287.5537109375,
                370.2703552246094
            ],
            "velocity": [
                -8.037775993347168,
                0.04733049124479294,
                0.035102006047964096
            ],
            "speed_kmh": 28.93677116716959,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 37661,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051868438720703,
                "transform": {
                    "location": {
                        "x": 626.399658203125,
                        "y": 4297.2666015625,
                        "z": 370.07958984375
                    },
                    "rotation": {
                        "roll": 0.0003163653309457004,
                        "pitch": -0.28302252292633057,
                        "yaw": -0.3393859565258026
                    }
                },
                "velocity": {
                    "x": 8.051626205444336,
                    "y": -0.047676824033260345,
                    "z": -0.040268853306770325
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37660,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.019336700439453,
                "transform": {
                    "location": {
                        "x": 625.9898071289062,
                        "y": 4294.01953125,
                        "z": 370.07958984375
                    },
                    "rotation": {
                        "roll": 0.00014175295655149966,
                        "pitch": -0.2833230495452881,
                        "yaw": -0.3670348823070526
                    }
                },
                "velocity": {
                    "x": 8.019075393676758,
                    "y": -0.050604138523340225,
                    "z": -0.04043835401535034
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37644,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.09262752532959,
                "transform": {
                    "location": {
                        "x": 666.1825561523438,
                        "y": 4297.03076171875,
                        "z": 369.88037109375
                    },
                    "rotation": {
                        "roll": 0.00030607928056269884,
                        "pitch": -0.31545910239219666,
                        "yaw": -0.3351745009422302
                    }
                },
                "velocity": {
                    "x": 8.092363357543945,
                    "y": -0.047444384545087814,
                    "z": -0.04500438645482063
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37643,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.092659950256348,
                "transform": {
                    "location": {
                        "x": 666.2941284179688,
                        "y": 4293.78125,
                        "z": 369.8796691894531
                    },
                    "rotation": {
                        "roll": -6.1035112594254315e-05,
                        "pitch": -0.31668171286582947,
                        "yaw": -0.3483276069164276
                    }
                },
                "velocity": {
                    "x": 8.092379570007324,
                    "y": -0.05016345903277397,
                    "z": -0.04499300196766853
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37671,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.417584180831909,
                "transform": {
                    "location": {
                        "x": 574.7166137695312,
                        "y": 4297.4814453125,
                        "z": 370.3142395019531
                    },
                    "rotation": {
                        "roll": -0.0024108884390443563,
                        "pitch": -0.21233691275119781,
                        "yaw": -0.025390625
                    }
                },
                "velocity": {
                    "x": 2.4175071716308594,
                    "y": 0.016635876148939133,
                    "z": -0.009817151352763176
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37672,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.431734085083008,
                "transform": {
                    "location": {
                        "x": 575.5625610351562,
                        "y": 4294.2373046875,
                        "z": 370.3509216308594
                    },
                    "rotation": {
                        "roll": -0.00469970703125,
                        "pitch": -0.08975551277399063,
                        "yaw": 0.17100471258163452
                    }
                },
                "velocity": {
                    "x": 4.431567192077637,
                    "y": 0.03404868394136429,
                    "z": -0.017858801409602165
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0005840848898515105,
                "transform": {
                    "location": {
                        "x": 662.9098510742188,
                        "y": 4287.10009765625,
                        "z": 369.8887939453125
                    },
                    "rotation": {
                        "roll": -0.0011901854304596782,
                        "pitch": 0.2580035626888275,
                        "yaw": 179.7284393310547
                    }
                },
                "velocity": {
                    "x": 6.447821942856535e-05,
                    "y": 0.0001297629059990868,
                    "z": -0.0005658261943608522
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.616760659497231e-05,
                "transform": {
                    "location": {
                        "x": 652.80322265625,
                        "y": 4287.1630859375,
                        "z": 369.9518127441406
                    },
                    "rotation": {
                        "roll": -0.0008239744347520173,
                        "pitch": 0.30823957920074463,
                        "yaw": 179.6280975341797
                    }
                },
                "velocity": {
                    "x": 1.3932548426964786e-05,
                    "y": -1.2396533747960348e-05,
                    "z": -3.098880188190378e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.037992477416992,
                "transform": {
                    "location": {
                        "x": 585.8950805664062,
                        "y": 4287.5537109375,
                        "z": 370.2703552246094
                    },
                    "rotation": {
                        "roll": 0.0004724859318230301,
                        "pitch": 0.2588573396205902,
                        "yaw": 179.67739868164062
                    }
                },
                "velocity": {
                    "x": -8.037775993347168,
                    "y": 0.04733049124479294,
                    "z": 0.035102006047964096
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.047377586364746,
                "transform": {
                    "location": {
                        "x": 564.9281616210938,
                        "y": 4287.677734375,
                        "z": 370.3942565917969
                    },
                    "rotation": {
                        "roll": 0.00013446911179926246,
                        "pitch": 0.22238411009311676,
                        "yaw": 179.66946411132812
                    }
                },
                "velocity": {
                    "x": -8.04719066619873,
                    "y": 0.04640500992536545,
                    "z": 0.02928728051483631
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.195924758911133,
                "transform": {
                    "location": {
                        "x": 640.409423828125,
                        "y": 4290.478515625,
                        "z": 370.0157470703125
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.4409501552581787,
                        "yaw": 179.26609802246094
                    }
                },
                "velocity": {
                    "x": -7.1957011222839355,
                    "y": 0.04329928383231163,
                    "z": 0.03668802231550217
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.494319915771484,
                "transform": {
                    "location": {
                        "x": 620.0057373046875,
                        "y": 4290.6025390625,
                        "z": 370.12115478515625
                    },
                    "rotation": {
                        "roll": 0.00013710324128624052,
                        "pitch": 0.11072418838739395,
                        "yaw": 179.71044921875
                    }
                },
                "velocity": {
                    "x": -9.494050979614258,
                    "y": 0.05476546660065651,
                    "z": 0.045912809669971466
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.96738338470459,
                "transform": {
                    "location": {
                        "x": 597.9430541992188,
                        "y": 4290.73291015625,
                        "z": 370.2543640136719
                    },
                    "rotation": {
                        "roll": -9.155274165095761e-05,
                        "pitch": 0.335867702960968,
                        "yaw": 179.63632202148438
                    }
                },
                "velocity": {
                    "x": -8.967105865478516,
                    "y": 0.05692270025610924,
                    "z": 0.0415966771543026
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37625,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.13570499420166,
                "transform": {
                    "location": {
                        "x": 663.841064453125,
                        "y": 4290.34375,
                        "z": 369.8851013183594
                    },
                    "rotation": {
                        "roll": 0.0005179613945074379,
                        "pitch": 0.13497819006443024,
                        "yaw": 179.65321350097656
                    }
                },
                "velocity": {
                    "x": -9.135404586791992,
                    "y": 0.05527732893824577,
                    "z": 0.049143578857183456
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.14740648865699768,
        "expert_target_speed": 7.754524514495691,
        "target_point": [
            17.143758036940156,
            0.4621756254666315
        ],
        "target_point_next": [
            23.142617436160045,
            0.5783290246865533
        ]
    },
    "355": {
        "acceleration": [
            0.9272861480712891,
            -0.012116432189941406,
            -0.002154931426048279
        ],
        "angular_velocity": [
            -0.061141595244407654,
            0.8246845602989197,
            -2.256464719772339
        ],
        "forward_vector": [
            -0.9997638463973999,
            0.02172146923840046,
            -0.0007286070613190532
        ],
        "right_vector": [
            -0.021721672266721725,
            -0.9997640252113342,
            0.0002743054646998644
        ],
        "location": [
            594.6727905273438,
            4287.76416015625,
            370.2325439453125
        ],
        "rotation": [
            -0.0157165490090847,
            -0.0417461134493351,
            178.75535583496094
        ],
        "velocity": [
            -7.915789604187012,
            0.1655447781085968,
            0.03661484643816948
        ],
        "speed": 7.917520453482529,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 10.790260314941406,
        "front_vehicle_info": {
            "id": 37515,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                583.8844604492188,
                4287.5654296875,
                370.2790222167969
            ],
            "velocity": [
                -8.03147029876709,
                0.04706749692559242,
                0.03289753943681717
            ],
            "speed_kmh": 28.914032118250145,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 37661,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.082897186279297,
                "transform": {
                    "location": {
                        "x": 628.41650390625,
                        "y": 4297.2548828125,
                        "z": 370.0696105957031
                    },
                    "rotation": {
                        "roll": 0.00046054041013121605,
                        "pitch": -0.28621906042099,
                        "yaw": -0.3409728407859802
                    }
                },
                "velocity": {
                    "x": 8.082642555236816,
                    "y": -0.04930488392710686,
                    "z": -0.04099947214126587
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37660,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.019792556762695,
                "transform": {
                    "location": {
                        "x": 627.9946899414062,
                        "y": 4294.0078125,
                        "z": 370.06964111328125
                    },
                    "rotation": {
                        "roll": -0.00012207029067212716,
                        "pitch": -0.2845115065574646,
                        "yaw": -0.3480224609375
                    }
                },
                "velocity": {
                    "x": 8.019535064697266,
                    "y": -0.05008373782038689,
                    "z": -0.040284622460603714
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37644,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 668.26513671875,
                        "y": 4296.9814453125,
                        "z": 369.8675231933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3146668076515198,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37643,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 668.3638305664062,
                        "y": 4293.7314453125,
                        "z": 369.8669128417969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3146668076515198,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37671,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.994209051132202,
                "transform": {
                    "location": {
                        "x": 575.3955078125,
                        "y": 4297.48486328125,
                        "z": 370.3115234375
                    },
                    "rotation": {
                        "roll": -0.001983642578125,
                        "pitch": -0.21398980915546417,
                        "yaw": 0.119904525578022
                    }
                },
                "velocity": {
                    "x": 2.99410343170166,
                    "y": 0.022523779422044754,
                    "z": -0.011198473162949085
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37672,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.287642002105713,
                "transform": {
                    "location": {
                        "x": 576.8171997070312,
                        "y": 4294.2431640625,
                        "z": 370.3464660644531
                    },
                    "rotation": {
                        "roll": 0.006286672782152891,
                        "pitch": -0.13006728887557983,
                        "yaw": 0.23150183260440826
                    }
                },
                "velocity": {
                    "x": 5.287594318389893,
                    "y": 0.008567647077143192,
                    "z": -0.020797710865736008
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0012098123552277684,
                "transform": {
                    "location": {
                        "x": 662.9095458984375,
                        "y": 4287.10009765625,
                        "z": 369.8883972167969
                    },
                    "rotation": {
                        "roll": -6.1035087128402665e-05,
                        "pitch": 0.30276861786842346,
                        "yaw": 179.72848510742188
                    }
                },
                "velocity": {
                    "x": 2.4217255486291833e-05,
                    "y": -6.0281105106696486e-05,
                    "z": -0.0012080669403076172
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00014193890092428774,
                "transform": {
                    "location": {
                        "x": 652.80322265625,
                        "y": 4287.1630859375,
                        "z": 369.9518127441406
                    },
                    "rotation": {
                        "roll": -0.0008239744347520173,
                        "pitch": 0.30823957920074463,
                        "yaw": 179.6280975341797
                    }
                },
                "velocity": {
                    "x": 1.3822204891766887e-05,
                    "y": -8.287220225611236e-06,
                    "z": 0.0001410209952155128
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.031675338745117,
                "transform": {
                    "location": {
                        "x": 583.8844604492188,
                        "y": 4287.5654296875,
                        "z": 370.2790222167969
                    },
                    "rotation": {
                        "roll": 0.0008038441883400083,
                        "pitch": 0.25461578369140625,
                        "yaw": 179.65025329589844
                    }
                },
                "velocity": {
                    "x": -8.03147029876709,
                    "y": 0.04706749692559242,
                    "z": 0.03289753943681717
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.004826545715332,
                "transform": {
                    "location": {
                        "x": 562.922119140625,
                        "y": 4287.689453125,
                        "z": 370.40191650390625
                    },
                    "rotation": {
                        "roll": 0.0008023875416256487,
                        "pitch": 0.21516460180282593,
                        "yaw": 179.66555786132812
                    }
                },
                "velocity": {
                    "x": -8.00463581085205,
                    "y": 0.04668105021119118,
                    "z": 0.029540356248617172
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.250438690185547,
                "transform": {
                    "location": {
                        "x": 638.6260986328125,
                        "y": 4290.49169921875,
                        "z": 370.0260925292969
                    },
                    "rotation": {
                        "roll": -0.0018310548039153218,
                        "pitch": 0.32057490944862366,
                        "yaw": 179.44020080566406
                    }
                },
                "velocity": {
                    "x": -7.250195026397705,
                    "y": 0.04656393080949783,
                    "z": 0.03701101988554001
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.304715156555176,
                "transform": {
                    "location": {
                        "x": 617.4978637695312,
                        "y": 4290.61669921875,
                        "z": 370.1328430175781
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": 0.16697078943252563,
                        "yaw": 179.66482543945312
                    }
                },
                "velocity": {
                    "x": -10.304417610168457,
                    "y": 0.06113919988274574,
                    "z": 0.048868950456380844
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 10.091347694396973,
                "transform": {
                    "location": {
                        "x": 595.5399780273438,
                        "y": 4290.74755859375,
                        "z": 370.2650451660156
                    },
                    "rotation": {
                        "roll": 0.0005282247439026833,
                        "pitch": 0.37688982486724854,
                        "yaw": 179.65184020996094
                    }
                },
                "velocity": {
                    "x": -10.091059684753418,
                    "y": 0.06132519990205765,
                    "z": 0.04530661553144455
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37625,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.171269416809082,
                "transform": {
                    "location": {
                        "x": 661.4732055664062,
                        "y": 4290.35791015625,
                        "z": 369.8963623046875
                    },
                    "rotation": {
                        "roll": -0.0006408690242096782,
                        "pitch": 0.5478152632713318,
                        "yaw": 179.65383911132812
                    }
                },
                "velocity": {
                    "x": -10.170937538146973,
                    "y": 0.06148789823055267,
                    "z": 0.05456114560365677
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.16220802068710327,
        "expert_target_speed": 7.53563542508357,
        "target_point": [
            15.128699270273765,
            0.40146020826821416
        ],
        "target_point_next": [
            21.127935884174654,
            0.49614787478393385
        ]
    },
    "360": {
        "acceleration": [
            0.5532932281494141,
            0.05328625440597534,
            -0.003965198993682861
        ],
        "angular_velocity": [
            0.09681584686040878,
            0.3794715106487274,
            2.333536148071289
        ],
        "forward_vector": [
            -0.9997543096542358,
            0.02208589017391205,
            0.0018768298905342817
        ],
        "right_vector": [
            -0.022086190059781075,
            -0.9997560977935791,
            -0.00013868055248167366
        ],
        "location": [
            592.7161865234375,
            4287.8076171875,
            370.2408447265625
        ],
        "rotation": [
            0.007945824414491653,
            0.1075344905257225,
            178.73446655273438
        ],
        "velocity": [
            -7.7468719482421875,
            0.18149378895759583,
            0.0358387753367424
        ],
        "speed": 7.748997675692766,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 10.838427543640137,
        "front_vehicle_info": {
            "id": 37515,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                581.8803100585938,
                4287.5771484375,
                370.2875671386719
            ],
            "velocity": [
                -8.014201164245605,
                0.04717356711626053,
                0.03271392732858658
            ],
            "speed_kmh": 28.851864365812283,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 37661,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.053098678588867,
                "transform": {
                    "location": {
                        "x": 630.4332885742188,
                        "y": 4297.2431640625,
                        "z": 370.0594482421875
                    },
                    "rotation": {
                        "roll": -0.0006103515625,
                        "pitch": -0.29247552156448364,
                        "yaw": -0.345489501953125
                    }
                },
                "velocity": {
                    "x": 8.052840232849121,
                    "y": -0.049307260662317276,
                    "z": -0.04164278879761696
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37660,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.019871711730957,
                "transform": {
                    "location": {
                        "x": 629.99951171875,
                        "y": 4293.99609375,
                        "z": 370.0596008300781
                    },
                    "rotation": {
                        "roll": 0.0008483020938001573,
                        "pitch": -0.2912938892841339,
                        "yaw": -0.3708190619945526
                    }
                },
                "velocity": {
                    "x": 8.019611358642578,
                    "y": -0.05023530498147011,
                    "z": -0.04073276370763779
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37644,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 670.3475341796875,
                        "y": 4296.92431640625,
                        "z": 369.8544006347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3146668076515198,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37643,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 670.4462280273438,
                        "y": 4293.671875,
                        "z": 369.85369873046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3146668076515198,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37671,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.6644296646118164,
                "transform": {
                    "location": {
                        "x": 576.2269897460938,
                        "y": 4297.490234375,
                        "z": 370.30810546875
                    },
                    "rotation": {
                        "roll": -0.004241943825036287,
                        "pitch": -0.2135321944952011,
                        "yaw": 0.24742291867733002
                    }
                },
                "velocity": {
                    "x": 3.6642892360687256,
                    "y": 0.02877911552786827,
                    "z": -0.014178037643432617
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37672,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.509528160095215,
                "transform": {
                    "location": {
                        "x": 578.1752319335938,
                        "y": 4294.24609375,
                        "z": 370.3412170410156
                    },
                    "rotation": {
                        "roll": -0.00012207030522404239,
                        "pitch": -0.18686030805110931,
                        "yaw": 0.1439271718263626
                    }
                },
                "velocity": {
                    "x": 5.5094804763793945,
                    "y": 0.005672459024935961,
                    "z": -0.02212287299335003
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0002668389934115112,
                "transform": {
                    "location": {
                        "x": 662.9095458984375,
                        "y": 4287.10009765625,
                        "z": 369.8883361816406
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.30686673521995544,
                        "yaw": 179.72850036621094
                    }
                },
                "velocity": {
                    "x": 1.119404987548478e-05,
                    "y": -2.264475369884167e-05,
                    "z": -0.00026564067229628563
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00018715648911893368,
                "transform": {
                    "location": {
                        "x": 652.80322265625,
                        "y": 4287.1630859375,
                        "z": 369.9518127441406
                    },
                    "rotation": {
                        "roll": -0.0008239744347520173,
                        "pitch": 0.30823957920074463,
                        "yaw": 179.6280975341797
                    }
                },
                "velocity": {
                    "x": 1.3676472008228302e-05,
                    "y": 3.134613507427275e-06,
                    "z": 0.00018662979709915817
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.014406204223633,
                "transform": {
                    "location": {
                        "x": 581.8803100585938,
                        "y": 4287.5771484375,
                        "z": 370.2875671386719
                    },
                    "rotation": {
                        "roll": 0.0007402849732898176,
                        "pitch": 0.2463785707950592,
                        "yaw": 179.6769256591797
                    }
                },
                "velocity": {
                    "x": -8.014201164245605,
                    "y": 0.04717356711626053,
                    "z": 0.03271392732858658
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.04590129852295,
                "transform": {
                    "location": {
                        "x": 560.9155883789062,
                        "y": 4287.701171875,
                        "z": 370.4093933105469
                    },
                    "rotation": {
                        "roll": 0.0007790136151015759,
                        "pitch": 0.21662627160549164,
                        "yaw": 179.659423828125
                    }
                },
                "velocity": {
                    "x": -8.045698165893555,
                    "y": 0.04924464225769043,
                    "z": 0.029087495058774948
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.693709373474121,
                "transform": {
                    "location": {
                        "x": 636.7367553710938,
                        "y": 4290.50439453125,
                        "z": 370.0362854003906
                    },
                    "rotation": {
                        "roll": 0.0015283402753993869,
                        "pitch": 0.25519633293151855,
                        "yaw": 179.6073760986328
                    }
                },
                "velocity": {
                    "x": -7.693490505218506,
                    "y": 0.04384560510516167,
                    "z": 0.03795214742422104
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.660268783569336,
                "transform": {
                    "location": {
                        "x": 614.9938354492188,
                        "y": 4290.630859375,
                        "z": 370.1435852050781
                    },
                    "rotation": {
                        "roll": -0.00033569333027116954,
                        "pitch": 0.3105686902999878,
                        "yaw": 179.68333435058594
                    }
                },
                "velocity": {
                    "x": -9.65998649597168,
                    "y": 0.056236132979393005,
                    "z": 0.04783455654978752
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.593161582946777,
                "transform": {
                    "location": {
                        "x": 593.058837890625,
                        "y": 4290.76171875,
                        "z": 370.27728271484375
                    },
                    "rotation": {
                        "roll": 4.913288648822345e-05,
                        "pitch": 0.2498209923505783,
                        "yaw": 179.6613006591797
                    }
                },
                "velocity": {
                    "x": -9.592893600463867,
                    "y": 0.056693557649850845,
                    "z": 0.04393874108791351
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37625,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.389900207519531,
                "transform": {
                    "location": {
                        "x": 658.8384399414062,
                        "y": 4290.37353515625,
                        "z": 369.9104919433594
                    },
                    "rotation": {
                        "roll": -0.0028686518780887127,
                        "pitch": 0.5442225933074951,
                        "yaw": 179.6643524169922
                    }
                },
                "velocity": {
                    "x": -10.389570236206055,
                    "y": 0.06099530681967735,
                    "z": 0.056025855243206024
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37505,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.1910393238067627,
        "expert_target_speed": 7.443247378245288,
        "target_point": [
            13.17146528856678,
            0.4072121674565764
        ],
        "target_point_next": [
            19.170666963117622,
            0.504088231711813
        ]
    },
    "365": {
        "acceleration": [
            0.3913116455078125,
            0.05428135395050049,
            0.019799768924713135
        ],
        "angular_velocity": [
            -0.01149009820073843,
            0.17560140788555145,
            -3.3450064659118652
        ],
        "forward_vector": [
            -0.9996894001960754,
            0.02473868802189827,
            0.003016586182639003
        ],
        "right_vector": [
            -0.02473953552544117,
            -0.9996938705444336,
            -0.00024459173437207937
        ],
        "location": [
            590.7937622070312,
            4287.8544921875,
            370.2492370605469
        ],
        "rotation": [
            0.014014137908816338,
            0.17283792793750763,
            178.58242797851562
        ],
        "velocity": [
            -7.637020111083984,
            0.1951453536748886,
            0.033881720155477524
        ],
        "speed": 7.639512935139395,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 10.92325210571289,
        "front_vehicle_info": {
            "id": 37515,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                579.8738403320312,
                4287.5888671875,
                370.2959289550781
            ],
            "velocity": [
                -8.034215927124023,
                0.0491061732172966,
                0.03359360620379448
            ],
            "speed_kmh": 28.923970422699885,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 37661,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.083369255065918,
                "transform": {
                    "location": {
                        "x": 632.4502563476562,
                        "y": 4297.23095703125,
                        "z": 370.0492248535156
                    },
                    "rotation": {
                        "roll": -0.0005493165226653218,
                        "pitch": -0.2921203374862671,
                        "yaw": -0.3481139838695526
                    }
                },
                "velocity": {
                    "x": 8.08311653137207,
                    "y": -0.0490482896566391,
                    "z": -0.04100993648171425
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37660,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.020411491394043,
                "transform": {
                    "location": {
                        "x": 632.00439453125,
                        "y": 4293.984375,
                        "z": 370.0494079589844
                    },
                    "rotation": {
                        "roll": 0.0009475689730606973,
                        "pitch": -0.29223644733428955,
                        "yaw": -0.3504943549633026
                    }
                },
                "velocity": {
                    "x": 8.02015209197998,
                    "y": -0.05038978159427643,
                    "z": -0.040270429104566574
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37671,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.550822734832764,
                "transform": {
                    "location": {
                        "x": 577.2547607421875,
                        "y": 4297.494140625,
                        "z": 370.30389404296875
                    },
                    "rotation": {
                        "roll": -0.0010986328125,
                        "pitch": -0.20968680083751678,
                        "yaw": 0.22813403606414795
                    }
                },
                "velocity": {
                    "x": 4.550781726837158,
                    "y": 0.007346425671130419,
                    "z": -0.017950257286429405
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37672,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.962775230407715,
                "transform": {
                    "location": {
                        "x": 579.8568725585938,
                        "y": 4294.24853515625,
                        "z": 370.3328857421875
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": -0.029383473098278046,
                        "yaw": 0.07936730235815048
                    }
                },
                "velocity": {
                    "x": 7.962703227996826,
                    "y": 0.006323708221316338,
                    "z": -0.03324759006500244
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 662.9095458984375,
                        "y": 4287.10009765625,
                        "z": 369.8883056640625
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.30686673521995544,
                        "yaw": 179.72850036621094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.016890332102775574,
                "transform": {
                    "location": {
                        "x": 652.8037109375,
                        "y": 4287.1630859375,
                        "z": 369.9518737792969
                    },
                    "rotation": {
                        "roll": -0.0014343260554596782,
                        "pitch": 0.3069145381450653,
                        "yaw": 179.62799072265625
                    }
                },
                "velocity": {
                    "x": 0.016889898106455803,
                    "y": -3.527060471242294e-05,
                    "z": -0.00011597633420024067
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.034436225891113,
                "transform": {
                    "location": {
                        "x": 579.8738403320312,
                        "y": 4287.5888671875,
                        "z": 370.2959289550781
                    },
                    "rotation": {
                        "roll": 0.0011578669073060155,
                        "pitch": 0.24898770451545715,
                        "yaw": 179.64466857910156
                    }
                },
                "velocity": {
                    "x": -8.034215927124023,
                    "y": 0.0491061732172966,
                    "z": 0.03359360620379448
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.008543014526367,
                "transform": {
                    "location": {
                        "x": 558.9088134765625,
                        "y": 4287.712890625,
                        "z": 370.4168701171875
                    },
                    "rotation": {
                        "roll": 0.0007474043522961438,
                        "pitch": 0.2143586426973343,
                        "yaw": 179.65379333496094
                    }
                },
                "velocity": {
                    "x": -8.008343696594238,
                    "y": 0.04851614311337471,
                    "z": 0.029020747169852257
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.720205307006836,
                "transform": {
                    "location": {
                        "x": 634.5220336914062,
                        "y": 4290.517578125,
                        "z": 370.0486755371094
                    },
                    "rotation": {
                        "roll": 0.0002230270329164341,
                        "pitch": 0.12114705890417099,
                        "yaw": 179.61492919921875
                    }
                },
                "velocity": {
                    "x": -9.719910621643066,
                    "y": 0.057683758437633514,
                    "z": 0.04897436127066612
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.659828186035156,
                "transform": {
                    "location": {
                        "x": 612.6083984375,
                        "y": 4290.64404296875,
                        "z": 370.1553955078125
                    },
                    "rotation": {
                        "roll": 3.47922214132268e-05,
                        "pitch": 0.28330257534980774,
                        "yaw": 179.6444549560547
                    }
                },
                "velocity": {
                    "x": -9.659549713134766,
                    "y": 0.05738818645477295,
                    "z": 0.04559674113988876
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.259419441223145,
                "transform": {
                    "location": {
                        "x": 590.8189697265625,
                        "y": 4290.77490234375,
                        "z": 370.28826904296875
                    },
                    "rotation": {
                        "roll": -6.10351053182967e-05,
                        "pitch": 0.14353641867637634,
                        "yaw": 179.66285705566406
                    }
                },
                "velocity": {
                    "x": -8.259191513061523,
                    "y": 0.04867038503289223,
                    "z": 0.03736494854092598
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37625,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.741472244262695,
                "transform": {
                    "location": {
                        "x": 656.42138671875,
                        "y": 4290.38818359375,
                        "z": 369.9256591796875
                    },
                    "rotation": {
                        "roll": -0.00238037109375,
                        "pitch": -0.042756982147693634,
                        "yaw": 179.66543579101562
                    }
                },
                "velocity": {
                    "x": -8.741199493408203,
                    "y": 0.0509331040084362,
                    "z": 0.04666958749294281
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.24064749479293823,
        "expert_target_speed": 7.40098456085909,
        "target_point": [
            11.247342750154145,
            0.44146497407651036
        ],
        "target_point_next": [
            17.24626623286383,
            0.5542601528452609
        ]
    },
    "370": {
        "acceleration": [
            0.5735969543457031,
            0.039127469062805176,
            0.003248751163482666
        ],
        "angular_velocity": [
            0.007357967551797628,
            0.0042662667110562325,
            2.4368302822113037
        ],
        "forward_vector": [
            -0.9996474981307983,
            0.02632766403257847,
            0.0034111670684069395
        ],
        "right_vector": [
            -0.026328708976507187,
            -0.9996532797813416,
            -0.0002614637778606266
        ],
        "location": [
            588.8982543945312,
            4287.90478515625,
            370.2574157714844
        ],
        "rotation": [
            0.014980857260525227,
            0.19544585049152374,
            178.49134826660156
        ],
        "velocity": [
            -7.51963472366333,
            0.20727761089801788,
            0.032975319772958755
        ],
        "speed": 7.522490969439769,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 11.036152839660645,
        "front_vehicle_info": {
            "id": 37515,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                577.8663940429688,
                4287.6005859375,
                370.3043212890625
            ],
            "velocity": [
                -8.02258586883545,
                0.048687465488910675,
                0.03265459090471268
            ],
            "speed_kmh": 28.882080218626168,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 37661,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.05302906036377,
                "transform": {
                    "location": {
                        "x": 634.4672241210938,
                        "y": 4297.2197265625,
                        "z": 370.0389099121094
                    },
                    "rotation": {
                        "roll": -0.00021362301777116954,
                        "pitch": -0.29164907336235046,
                        "yaw": -0.3508300483226776
                    }
                },
                "velocity": {
                    "x": 8.052772521972656,
                    "y": -0.049354229122400284,
                    "z": -0.041204724460840225
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37660,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.019569396972656,
                "transform": {
                    "location": {
                        "x": 634.00927734375,
                        "y": 4293.97265625,
                        "z": 370.0392150878906
                    },
                    "rotation": {
                        "roll": 0.0004945750697515905,
                        "pitch": -0.291806161403656,
                        "yaw": -0.3721008598804474
                    }
                },
                "velocity": {
                    "x": 8.019309043884277,
                    "y": -0.0505533441901207,
                    "z": -0.04028162360191345
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37671,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.218564510345459,
                "transform": {
                    "location": {
                        "x": 578.5097045898438,
                        "y": 4297.49658203125,
                        "z": 370.2990417480469
                    },
                    "rotation": {
                        "roll": -0.0007324219332076609,
                        "pitch": -0.21092988550662994,
                        "yaw": 0.14315776526927948
                    }
                },
                "velocity": {
                    "x": 5.218516826629639,
                    "y": 0.006096238736063242,
                    "z": -0.021423883736133575
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37672,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.247746467590332,
                "transform": {
                    "location": {
                        "x": 581.92578125,
                        "y": 4294.25,
                        "z": 370.32525634765625
                    },
                    "rotation": {
                        "roll": 0.00412663584575057,
                        "pitch": -0.1572582721710205,
                        "yaw": 0.03314456343650818
                    }
                },
                "velocity": {
                    "x": 8.247661590576172,
                    "y": -0.01073610968887806,
                    "z": -0.03575735539197922
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 662.9095458984375,
                        "y": 4287.10009765625,
                        "z": 369.8883056640625
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.30686673521995544,
                        "yaw": 179.72850036621094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.003120558802038431,
                "transform": {
                    "location": {
                        "x": 652.8062133789062,
                        "y": 4287.1630859375,
                        "z": 369.9518737792969
                    },
                    "rotation": {
                        "roll": -0.0023803708609193563,
                        "pitch": 0.3070579767227173,
                        "yaw": 179.6287841796875
                    }
                },
                "velocity": {
                    "x": -0.003114469349384308,
                    "y": 3.760031904675998e-05,
                    "z": -0.00019119262287858874
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.02280044555664,
                "transform": {
                    "location": {
                        "x": 577.8663940429688,
                        "y": 4287.6005859375,
                        "z": 370.3043212890625
                    },
                    "rotation": {
                        "roll": 0.0007652424974367023,
                        "pitch": 0.24224629998207092,
                        "yaw": 179.6661834716797
                    }
                },
                "velocity": {
                    "x": -8.02258586883545,
                    "y": 0.048687465488910675,
                    "z": 0.03265459090471268
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.042946815490723,
                "transform": {
                    "location": {
                        "x": 556.9024658203125,
                        "y": 4287.724609375,
                        "z": 370.42437744140625
                    },
                    "rotation": {
                        "roll": -0.0010375973070040345,
                        "pitch": 0.21192710101604462,
                        "yaw": 179.6547088623047
                    }
                },
                "velocity": {
                    "x": -8.042755126953125,
                    "y": 0.04692577198147774,
                    "z": 0.029437417164444923
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.258360862731934,
                "transform": {
                    "location": {
                        "x": 631.9847412109375,
                        "y": 4290.533203125,
                        "z": 370.06072998046875
                    },
                    "rotation": {
                        "roll": 0.0003849055210594088,
                        "pitch": 0.21140117943286896,
                        "yaw": 179.67015075683594
                    }
                },
                "velocity": {
                    "x": -10.258061408996582,
                    "y": 0.05834735184907913,
                    "z": 0.05237492546439171
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.186661720275879,
                "transform": {
                    "location": {
                        "x": 610.1094970703125,
                        "y": 4290.65966796875,
                        "z": 370.1676025390625
                    },
                    "rotation": {
                        "roll": 0.0006593714351765811,
                        "pitch": 0.22239777445793152,
                        "yaw": 179.66697692871094
                    }
                },
                "velocity": {
                    "x": -10.186370849609375,
                    "y": 0.059976108372211456,
                    "z": 0.04834669828414917
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.631380081176758,
                "transform": {
                    "location": {
                        "x": 588.8639526367188,
                        "y": 4290.78662109375,
                        "z": 370.2967224121094
                    },
                    "rotation": {
                        "roll": 3.9101167203625664e-05,
                        "pitch": 0.16729864478111267,
                        "yaw": 179.66334533691406
                    }
                },
                "velocity": {
                    "x": -7.631175994873047,
                    "y": 0.04482870548963547,
                    "z": 0.03324134647846222
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37625,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.370224952697754,
                "transform": {
                    "location": {
                        "x": 654.3243408203125,
                        "y": 4290.39990234375,
                        "z": 369.93670654296875
                    },
                    "rotation": {
                        "roll": -0.00021362301777116954,
                        "pitch": -0.014008717611432076,
                        "yaw": 179.6651611328125
                    }
                },
                "velocity": {
                    "x": -8.369963645935059,
                    "y": 0.04884560778737068,
                    "z": 0.044535081833601
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.26561930775642395,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.27301225066185,
        "expert_target_speed": 7.354700528000404,
        "target_point": [
            9.350451843889546,
            0.4597159614960781
        ],
        "target_point_next": [
            15.349188426917319,
            0.5820479328015232
        ]
    },
    "375": {
        "acceleration": [
            -0.9218025207519531,
            -0.027072429656982422,
            -0.0013696402311325073
        ],
        "angular_velocity": [
            -0.09164587408304214,
            0.3994595408439636,
            -2.4301650524139404
        ],
        "forward_vector": [
            -0.9996389150619507,
            0.026597896590828896,
            0.0038072967436164618
        ],
        "right_vector": [
            -0.026597479358315468,
            -0.9996461868286133,
            0.00016032112762331963
        ],
        "location": [
            587.0307006835938,
            4287.9541015625,
            370.2655029296875
        ],
        "rotation": [
            -0.009185791015625,
            0.218142569065094,
            178.47586059570312
        ],
        "velocity": [
            -7.4962897300720215,
            0.19196468591690063,
            0.03299238160252571
        ],
        "speed": 7.498747239227526,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 11.174821853637695,
        "front_vehicle_info": {
            "id": 37515,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                575.8612060546875,
                4287.6123046875,
                370.3125
            ],
            "velocity": [
                -8.025137901306152,
                0.049554724246263504,
                0.03283340483903885
            ],
            "speed_kmh": 28.89128902652858,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 37661,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.083342552185059,
                "transform": {
                    "location": {
                        "x": 636.484375,
                        "y": 4297.2080078125,
                        "z": 370.02862548828125
                    },
                    "rotation": {
                        "roll": 0.0009204808156937361,
                        "pitch": -0.29193592071533203,
                        "yaw": -0.3529052734375
                    }
                },
                "velocity": {
                    "x": 8.08307933807373,
                    "y": -0.05062861368060112,
                    "z": -0.041142694652080536
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37660,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.0201997756958,
                "transform": {
                    "location": {
                        "x": 636.01416015625,
                        "y": 4293.96044921875,
                        "z": 370.029052734375
                    },
                    "rotation": {
                        "roll": -0.0003662108792923391,
                        "pitch": -0.2913212180137634,
                        "yaw": -0.3503723442554474
                    }
                },
                "velocity": {
                    "x": 8.01993465423584,
                    "y": -0.05075671896338463,
                    "z": -0.04098188132047653
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37671,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.826779365539551,
                "transform": {
                    "location": {
                        "x": 579.8707885742188,
                        "y": 4297.49951171875,
                        "z": 370.2933654785156
                    },
                    "rotation": {
                        "roll": -0.00286865234375,
                        "pitch": -0.2201574742794037,
                        "yaw": 0.10515657067298889
                    }
                },
                "velocity": {
                    "x": 5.82672643661499,
                    "y": 0.0050275386311113834,
                    "z": -0.024292893707752228
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37672,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.838696002960205,
                "transform": {
                    "location": {
                        "x": 583.9249267578125,
                        "y": 4294.24658203125,
                        "z": 370.3176574707031
                    },
                    "rotation": {
                        "roll": 0.0038834172300994396,
                        "pitch": -0.2644307613372803,
                        "yaw": -0.1131286472082138
                    }
                },
                "velocity": {
                    "x": 7.838588714599609,
                    "y": -0.023112120106816292,
                    "z": -0.03380819410085678
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 662.9095458984375,
                        "y": 4287.10009765625,
                        "z": 369.8883056640625
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.30686673521995544,
                        "yaw": 179.72850036621094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.34707263112068176,
                "transform": {
                    "location": {
                        "x": 652.7789916992188,
                        "y": 4287.1630859375,
                        "z": 369.95147705078125
                    },
                    "rotation": {
                        "roll": -0.0018615720327943563,
                        "pitch": 0.3678261637687683,
                        "yaw": 179.62615966796875
                    }
                },
                "velocity": {
                    "x": -0.3470569849014282,
                    "y": 0.002537730848416686,
                    "z": 0.0021040725987404585
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.025358200073242,
                "transform": {
                    "location": {
                        "x": 575.8612060546875,
                        "y": 4287.6123046875,
                        "z": 370.3125
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": 0.24053876101970673,
                        "yaw": 179.6397705078125
                    }
                },
                "velocity": {
                    "x": -8.025137901306152,
                    "y": 0.049554724246263504,
                    "z": 0.03283340483903885
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.009919166564941,
                "transform": {
                    "location": {
                        "x": 554.89599609375,
                        "y": 4287.736328125,
                        "z": 370.43170166015625
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": 0.21254181861877441,
                        "yaw": 179.65692138671875
                    }
                },
                "velocity": {
                    "x": -8.009720802307129,
                    "y": 0.048008184880018234,
                    "z": 0.029661530628800392
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.395163536071777,
                "transform": {
                    "location": {
                        "x": 629.5157470703125,
                        "y": 4290.54638671875,
                        "z": 370.072265625
                    },
                    "rotation": {
                        "roll": -0.0005187989445403218,
                        "pitch": 0.34946662187576294,
                        "yaw": 179.6528778076172
                    }
                },
                "velocity": {
                    "x": -9.394877433776855,
                    "y": 0.05605512857437134,
                    "z": 0.04731583595275879
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.051536560058594,
                "transform": {
                    "location": {
                        "x": 607.6924438476562,
                        "y": 4290.67431640625,
                        "z": 370.1780700683594
                    },
                    "rotation": {
                        "roll": -0.0003662107919808477,
                        "pitch": 0.35045015811920166,
                        "yaw": 179.63902282714844
                    }
                },
                "velocity": {
                    "x": -9.051270484924316,
                    "y": 0.05418208986520767,
                    "z": 0.04328831657767296
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.184992790222168,
                "transform": {
                    "location": {
                        "x": 586.8958740234375,
                        "y": 4290.798828125,
                        "z": 370.3043212890625
                    },
                    "rotation": {
                        "roll": -0.0004577635554596782,
                        "pitch": 0.2789517343044281,
                        "yaw": 179.6632537841797
                    }
                },
                "velocity": {
                    "x": -8.184782981872559,
                    "y": 0.048073768615722656,
                    "z": 0.0335199236869812
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37625,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.817307472229004,
                "transform": {
                    "location": {
                        "x": 652.1489868164062,
                        "y": 4290.41259765625,
                        "z": 369.9470520019531
                    },
                    "rotation": {
                        "roll": -0.0002441406832076609,
                        "pitch": 0.333074152469635,
                        "yaw": 179.6650848388672
                    }
                },
                "velocity": {
                    "x": -8.817039489746094,
                    "y": 0.051526401191949844,
                    "z": 0.045580822974443436
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.2649668753147125,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3122749924659729,
        "expert_target_speed": 7.375092036814665,
        "target_point": [
            13.480826070931599,
            0.585816848137684
        ],
        "target_point_next": [
            13.480826070931599,
            0.585816848137684
        ]
    },
    "380": {
        "acceleration": [
            -3.4268760681152344,
            0.06417065858840942,
            0.00906430184841156
        ],
        "angular_velocity": [
            -0.042847342789173126,
            0.8416215181350708,
            2.5658817291259766
        ],
        "forward_vector": [
            -0.9996621012687683,
            0.02497768960893154,
            0.007195529527962208
        ],
        "right_vector": [
            -0.024976834654808044,
            -0.9996880292892456,
            0.00020878639770671725
        ],
        "location": [
            585.07763671875,
            4288.00390625,
            370.2733459472656
        ],
        "rotation": [
            -0.01196288876235485,
            0.4122770130634308,
            178.56869506835938
        ],
        "velocity": [
            -8.173057556152344,
            0.20260731875896454,
            0.03383481875061989
        ],
        "speed": 8.175568453740304,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 11.229732513427734,
        "front_vehicle_info": {
            "id": 37515,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                573.8544311523438,
                4287.6240234375,
                370.3207092285156
            ],
            "velocity": [
                -8.02796459197998,
                0.04931594431400299,
                0.03242163732647896
            ],
            "speed_kmh": 28.90145351615714,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 37661,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051582336425781,
                "transform": {
                    "location": {
                        "x": 638.5009155273438,
                        "y": 4297.1962890625,
                        "z": 370.0182189941406
                    },
                    "rotation": {
                        "roll": 0.0010010673431679606,
                        "pitch": -0.29830849170684814,
                        "yaw": -0.3531799018383026
                    }
                },
                "velocity": {
                    "x": 8.051323890686035,
                    "y": -0.04955027997493744,
                    "z": -0.041259150952100754
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37660,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.020269393920898,
                "transform": {
                    "location": {
                        "x": 638.0189819335938,
                        "y": 4293.94873046875,
                        "z": 370.01873779296875
                    },
                    "rotation": {
                        "roll": 0.0008163111051544547,
                        "pitch": -0.2966897487640381,
                        "yaw": -0.37301626801490784
                    }
                },
                "velocity": {
                    "x": 8.02000617980957,
                    "y": -0.050581686198711395,
                    "z": -0.040902648121118546
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37671,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.920237064361572,
                "transform": {
                    "location": {
                        "x": 581.4771728515625,
                        "y": 4297.5009765625,
                        "z": 370.2864074707031
                    },
                    "rotation": {
                        "roll": -0.0017089842585846782,
                        "pitch": -0.20791777968406677,
                        "yaw": 0.10555765777826309
                    }
                },
                "velocity": {
                    "x": 6.920172691345215,
                    "y": 0.004666509572416544,
                    "z": -0.029396090656518936
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37672,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.097378730773926,
                "transform": {
                    "location": {
                        "x": 585.9086303710938,
                        "y": 4294.2412109375,
                        "z": 370.3087463378906
                    },
                    "rotation": {
                        "roll": 0.0008757908944971859,
                        "pitch": -0.2306554764509201,
                        "yaw": -0.1719970703125
                    }
                },
                "velocity": {
                    "x": 8.097260475158691,
                    "y": -0.026586532592773438,
                    "z": -0.03462764620780945
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 662.9095458984375,
                        "y": 4287.10009765625,
                        "z": 369.8883056640625
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.30686673521995544,
                        "yaw": 179.72850036621094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.0683305263519287,
                "transform": {
                    "location": {
                        "x": 652.60546875,
                        "y": 4287.16357421875,
                        "z": 369.9515686035156
                    },
                    "rotation": {
                        "roll": -0.003570556640625,
                        "pitch": 0.47275152802467346,
                        "yaw": 179.63018798828125
                    }
                },
                "velocity": {
                    "x": -1.068311333656311,
                    "y": 0.0029576653614640236,
                    "z": 0.005684585310518742
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.028182029724121,
                "transform": {
                    "location": {
                        "x": 573.8544311523438,
                        "y": 4287.6240234375,
                        "z": 370.3207092285156
                    },
                    "rotation": {
                        "roll": 0.0006763265118934214,
                        "pitch": 0.23649528622627258,
                        "yaw": 179.6627960205078
                    }
                },
                "velocity": {
                    "x": -8.02796459197998,
                    "y": 0.04931594431400299,
                    "z": 0.03242163732647896
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.044500350952148,
                "transform": {
                    "location": {
                        "x": 552.8893432617188,
                        "y": 4287.748046875,
                        "z": 370.4390869140625
                    },
                    "rotation": {
                        "roll": 0.000149031839100644,
                        "pitch": 0.21330679953098297,
                        "yaw": 179.65708923339844
                    }
                },
                "velocity": {
                    "x": -8.044305801391602,
                    "y": 0.04811352118849754,
                    "z": 0.028633108362555504
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.278352737426758,
                "transform": {
                    "location": {
                        "x": 627.2927856445312,
                        "y": 4290.56005859375,
                        "z": 370.0831298828125
                    },
                    "rotation": {
                        "roll": 0.0008376099285669625,
                        "pitch": 0.37194475531578064,
                        "yaw": 179.68150329589844
                    }
                },
                "velocity": {
                    "x": -8.278125762939453,
                    "y": 0.044978003948926926,
                    "z": 0.04162334278225899
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.628382682800293,
                "transform": {
                    "location": {
                        "x": 605.5777587890625,
                        "y": 4290.68994140625,
                        "z": 370.1876220703125
                    },
                    "rotation": {
                        "roll": -0.0013122556265443563,
                        "pitch": 0.40345242619514465,
                        "yaw": 179.95040893554688
                    }
                },
                "velocity": {
                    "x": -7.6281418800354,
                    "y": 0.048087261617183685,
                    "z": 0.03685915842652321
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.081635475158691,
                "transform": {
                    "location": {
                        "x": 584.8419189453125,
                        "y": 4290.81005859375,
                        "z": 370.3133850097656
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.24589362740516663,
                        "yaw": 179.66017150878906
                    }
                },
                "velocity": {
                    "x": -8.08141803741455,
                    "y": 0.04807441681623459,
                    "z": 0.03457416594028473
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37625,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.433372497558594,
                "transform": {
                    "location": {
                        "x": 649.7051391601562,
                        "y": 4290.4267578125,
                        "z": 369.95849609375
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": 0.7425371408462524,
                        "yaw": 179.66586303710938
                    }
                },
                "velocity": {
                    "x": -10.433051109313965,
                    "y": 0.06096939742565155,
                    "z": 0.05471014976501465
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3081580400466919,
        "expert_target_speed": 7.819860472206426,
        "target_point": [
            11.528058936901859,
            0.5649788487157468
        ],
        "target_point_next": [
            11.528058936901859,
            0.5649788487157468
        ]
    },
    "385": {
        "acceleration": [
            -0.3923606872558594,
            -0.02979964017868042,
            -0.005948245525360107
        ],
        "angular_velocity": [
            0.07560862600803375,
            -0.41082271933555603,
            -2.3268537521362305
        ],
        "forward_vector": [
            -0.9996533393859863,
            0.02446497231721878,
            0.009730781428515911
        ],
        "right_vector": [
            -0.024463672190904617,
            -0.999700665473938,
            0.00025245570577681065
        ],
        "location": [
            582.916259765625,
            4288.05615234375,
            370.2820739746094
        ],
        "rotation": [
            -0.014465331099927425,
            0.5575414896011353,
            178.59805297851562
        ],
        "velocity": [
            -8.946477890014648,
            0.2128477841615677,
            0.0376540943980217
        ],
        "speed": 8.949009487968121,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 11.076194763183594,
        "front_vehicle_info": {
            "id": 37515,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                571.84814453125,
                4287.6357421875,
                370.3287048339844
            ],
            "velocity": [
                -8.023831367492676,
                0.049139417707920074,
                0.03259747475385666
            ],
            "speed_kmh": 28.886572976182784,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 37661,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084226608276367,
                "transform": {
                    "location": {
                        "x": 640.5180053710938,
                        "y": 4297.1845703125,
                        "z": 370.0077209472656
                    },
                    "rotation": {
                        "roll": -0.000244140625,
                        "pitch": -0.30117717385292053,
                        "yaw": -0.3544921875
                    }
                },
                "velocity": {
                    "x": 8.083964347839355,
                    "y": -0.050180163234472275,
                    "z": -0.04142076522111893
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37660,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.020440101623535,
                "transform": {
                    "location": {
                        "x": 640.0238647460938,
                        "y": 4293.93603515625,
                        "z": 370.00830078125
                    },
                    "rotation": {
                        "roll": -0.0002441407414153218,
                        "pitch": -0.3010883927345276,
                        "yaw": -0.353057861328125
                    }
                },
                "velocity": {
                    "x": 8.020173072814941,
                    "y": -0.05084934085607529,
                    "z": -0.04124946519732475
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37671,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.791903972625732,
                "transform": {
                    "location": {
                        "x": 583.350830078125,
                        "y": 4297.5,
                        "z": 370.27850341796875
                    },
                    "rotation": {
                        "roll": -0.0005798339261673391,
                        "pitch": -0.2155470997095108,
                        "yaw": -0.0410766564309597
                    }
                },
                "velocity": {
                    "x": 7.79181432723999,
                    "y": -0.01650298945605755,
                    "z": -0.033488716930150986
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 37672,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.08051586151123,
                "transform": {
                    "location": {
                        "x": 587.9434814453125,
                        "y": 4294.2333984375,
                        "z": 370.30010986328125
                    },
                    "rotation": {
                        "roll": 0.002871664008125663,
                        "pitch": -0.25158318877220154,
                        "yaw": -0.22821044921875
                    }
                },
                "velocity": {
                    "x": 8.080348014831543,
                    "y": -0.03744790703058243,
                    "z": -0.036216940730810165
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37517,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 662.077880859375,
                        "y": 4287.15234375,
                        "z": 369.8954162597656
                    },
                    "rotation": {
                        "roll": -1.0422192275871822e-10,
                        "pitch": 0.30904555320739746,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 37516,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.9243725538253784,
                "transform": {
                    "location": {
                        "x": 652.2565307617188,
                        "y": 4287.1650390625,
                        "z": 369.95318603515625
                    },
                    "rotation": {
                        "roll": -0.00024414037761744112,
                        "pitch": 0.5018549561500549,
                        "yaw": 179.59719848632812
                    }
                },
                "velocity": {
                    "x": -1.9243202209472656,
                    "y": 0.010595510713756084,
                    "z": 0.009442338719964027
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 37515,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.0240478515625,
                "transform": {
                    "location": {
                        "x": 571.84814453125,
                        "y": 4287.6357421875,
                        "z": 370.3287048339844
                    },
                    "rotation": {
                        "roll": 0.00011980408453382552,
                        "pitch": 0.2347809076309204,
                        "yaw": 179.63519287109375
                    }
                },
                "velocity": {
                    "x": -8.023831367492676,
                    "y": 0.049139417707920074,
                    "z": 0.03259747475385666
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 37514,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.00777530670166,
                "transform": {
                    "location": {
                        "x": 550.8831176757812,
                        "y": 4287.759765625,
                        "z": 370.4465026855469
                    },
                    "rotation": {
                        "roll": -0.0007324217585846782,
                        "pitch": 0.21258962154388428,
                        "yaw": 179.65684509277344
                    }
                },
                "velocity": {
                    "x": -8.00757884979248,
                    "y": 0.04797131568193436,
                    "z": 0.028995541855692863
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37513,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.132328510284424,
                "transform": {
                    "location": {
                        "x": 625.4207763671875,
                        "y": 4290.56689453125,
                        "z": 370.0921936035156
                    },
                    "rotation": {
                        "roll": -0.0029907221905887127,
                        "pitch": 0.3954952657222748,
                        "yaw": 179.28695678710938
                    }
                },
                "velocity": {
                    "x": -7.132110595703125,
                    "y": 0.04274026304483414,
                    "z": 0.03581962361931801
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37512,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.1075663566589355,
                "transform": {
                    "location": {
                        "x": 603.7808227539062,
                        "y": 4290.69970703125,
                        "z": 370.1967468261719
                    },
                    "rotation": {
                        "roll": 0.0018227549735456705,
                        "pitch": 0.33902326226234436,
                        "yaw": 179.9239501953125
                    }
                },
                "velocity": {
                    "x": -7.107368469238281,
                    "y": 0.041173119097948074,
                    "z": 0.0334591381251812
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 37511,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.8697357177734375,
                "transform": {
                    "location": {
                        "x": 582.8645629882812,
                        "y": 4290.82177734375,
                        "z": 370.322021484375
                    },
                    "rotation": {
                        "roll": -0.00042724609375,
                        "pitch": 0.22982218861579895,
                        "yaw": 179.65977478027344
                    }
                },
                "velocity": {
                    "x": -7.869526386260986,
                    "y": 0.04670664295554161,
                    "z": 0.03339027240872383
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 37625,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.756404876708984,
                "transform": {
                    "location": {
                        "x": 647.1620483398438,
                        "y": 4290.44189453125,
                        "z": 369.9733581542969
                    },
                    "rotation": {
                        "roll": -0.00018310555606149137,
                        "pitch": 0.35035452246665955,
                        "yaw": 179.6656036376953
                    }
                },
                "velocity": {
                    "x": -9.756098747253418,
                    "y": 0.05685410276055336,
                    "z": 0.05233828350901604
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.31053873896598816,
        "expert_target_speed": 8.221571687201374,
        "target_point": [
            9.36633853871867,
            0.5584252635745618
        ],
        "target_point_next": [
            9.36633853871867,
            0.5584252635745618
        ]
    }
}