{
    "0": {
        "acceleration": [
            -0.0028560685459524393,
            0.00438483664765954,
            -0.6394830346107483
        ],
        "angular_velocity": [
            -0.006474395282566547,
            -0.026632070541381836,
            -0.00011953057401115075
        ],
        "forward_vector": [
            -0.0010551244486123323,
            0.9999610185623169,
            0.008765346370637417
        ],
        "right_vector": [
            -0.999999463558197,
            -0.0010562153765931726,
            0.00011983792501268908
        ],
        "location": [
            2185.1357421875,
            2473.19189453125,
            364.8522644042969
        ],
        "rotation": [
            -0.006866471376270056,
            0.502223789691925,
            90.06045532226562
        ],
        "velocity": [
            -0.00025592264137230814,
            -0.0014746020315214992,
            0.17348912358283997
        ],
        "speed": 0.0014966454322030691,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 206.90892028808594,
        "front_vehicle_info": {
            "id": 48755,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2171.1689453125,
                2524.47509765625,
                164.88661193847656
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "217,217,217"
        },
        "other_vehicles": [
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "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": -0.0014954841462895274,
        "expert_target_speed": 1.3699684492786142,
        "target_point": [
            42.33962317405325,
            0.000813209308376972
        ],
        "target_point_next": [
            51.28147902559232,
            8.91367322774376
        ]
    },
    "5": {
        "acceleration": [
            -2.936663804575801e-05,
            0.002865432295948267,
            -0.3400113582611084
        ],
        "angular_velocity": [
            -0.017580285668373108,
            -0.01245217863470316,
            -1.3223811038187705e-05
        ],
        "forward_vector": [
            -0.0010556017514318228,
            0.9999615550041199,
            0.008707770146429539
        ],
        "right_vector": [
            -0.999999463558197,
            -0.0010559154907241464,
            3.142375499010086e-05
        ],
        "location": [
            2185.1357421875,
            2473.19189453125,
            364.8783874511719
        ],
        "rotation": [
            -0.0018005166202783585,
            0.49892479181289673,
            90.06048583984375
        ],
        "velocity": [
            -0.0001108124852180481,
            -0.0004309491778258234,
            0.05526747182011604
        ],
        "speed": 0.0004449680895850323,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.000155448913574,
        "front_vehicle_info": {
            "id": 48761,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2185.1201171875,
                2488.191162109375,
                365.0408630371094
            ],
            "velocity": [
                -0.00011582890874706209,
                0.001485347398556769,
                -0.23386387526988983
            ],
            "speed_kmh": 0.8419270351462025,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 48764,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.450000286102295,
                "transform": {
                    "location": {
                        "x": 2187.842529296875,
                        "y": 2514.19384765625,
                        "z": 365.2166748046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.1435842216014862,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -2.450000286102295
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.4561890959739685,
                "transform": {
                    "location": {
                        "x": 2185.16748046875,
                        "y": 2443.19189453125,
                        "z": 364.5797119140625
                    },
                    "rotation": {
                        "roll": -0.0005798324709758162,
                        "pitch": 0.6744128465652466,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": 9.880249854177237e-05,
                    "y": 0.00539770070463419,
                    "z": -0.4561571478843689
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.4576400816440582,
                "transform": {
                    "location": {
                        "x": 2185.151611328125,
                        "y": 2458.19189453125,
                        "z": 364.7475280761719
                    },
                    "rotation": {
                        "roll": 0.0005224043852649629,
                        "pitch": 0.5967330932617188,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": 3.8404112274292856e-05,
                    "y": 0.004741026554256678,
                    "z": -0.45761552453041077
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48761,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.23386862874031067,
                "transform": {
                    "location": {
                        "x": 2185.1201171875,
                        "y": 2488.191162109375,
                        "z": 365.0408630371094
                    },
                    "rotation": {
                        "roll": -0.0001830982801038772,
                        "pitch": 0.37258678674697876,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": -0.00011582890874706209,
                    "y": 0.001485347398556769,
                    "z": -0.23386387526988983
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48760,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.3644159436225891,
                "transform": {
                    "location": {
                        "x": 2185.104248046875,
                        "y": 2503.19140625,
                        "z": 365.0921936035156
                    },
                    "rotation": {
                        "roll": 0.0008286917582154274,
                        "pitch": 0.2969561219215393,
                        "yaw": 90.0606460571289
                    }
                },
                "velocity": {
                    "x": -8.427139255218208e-05,
                    "y": 0.0017170384526252747,
                    "z": -0.3644118905067444
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "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": -0.001134917140007019,
        "expert_target_speed": 1.0525201704469722,
        "target_point": [
            42.33962315316024,
            -0.0015590105989188308
        ],
        "target_point_next": [
            51.28197836364802,
            8.910799996274035
        ]
    },
    "10": {
        "acceleration": [
            -0.002674020826816559,
            0.0004390982212498784,
            -0.09070463478565216
        ],
        "angular_velocity": [
            -7.094491593306884e-06,
            -0.022687319666147232,
            -0.00011551391799002886
        ],
        "forward_vector": [
            -0.0010554827749729156,
            0.9999617338180542,
            0.008685598149895668
        ],
        "right_vector": [
            -0.999999463558197,
            -0.0010556289926171303,
            1.2250150575709995e-05
        ],
        "location": [
            2185.1357421875,
            2473.19189453125,
            364.8858642578125
        ],
        "rotation": [
            -0.0007019084296189249,
            0.49765437841415405,
            90.06047821044922
        ],
        "velocity": [
            -0.00034837223938666284,
            -0.00014144793385639787,
            0.014538289979100227
        ],
        "speed": 0.00037599299882780027,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.00001049041748,
        "front_vehicle_info": {
            "id": 48761,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2185.1201171875,
                2488.191162109375,
                365.0343322753906
            ],
            "velocity": [
                9.449163189856336e-05,
                -0.0001818419259507209,
                0.02460102178156376
            ],
            "speed_kmh": 0.08856675104888702,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 48764,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.23237378895282745,
                "transform": {
                    "location": {
                        "x": 2187.842529296875,
                        "y": 2514.194580078125,
                        "z": 365.0835876464844
                    },
                    "rotation": {
                        "roll": -0.000640880549326539,
                        "pitch": -0.18686030805110931,
                        "yaw": -89.93968200683594
                    }
                },
                "velocity": {
                    "x": -1.231618534802692e-05,
                    "y": -0.0006795749068260193,
                    "z": 0.23237279057502747
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0943894162774086,
                "transform": {
                    "location": {
                        "x": 2185.16748046875,
                        "y": 2443.192138671875,
                        "z": 364.57257080078125
                    },
                    "rotation": {
                        "roll": -0.0010375936981290579,
                        "pitch": 0.674945592880249,
                        "yaw": 90.06039428710938
                    }
                },
                "velocity": {
                    "x": 0.00019917692407034338,
                    "y": -0.0011483648559078574,
                    "z": 0.09438221901655197
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.09455757588148117,
                "transform": {
                    "location": {
                        "x": 2185.151611328125,
                        "y": 2458.19189453125,
                        "z": 364.7402648925781
                    },
                    "rotation": {
                        "roll": 0.0005635745474137366,
                        "pitch": 0.5969858169555664,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": -3.4413729736115783e-05,
                    "y": -0.001004891819320619,
                    "z": 0.09455222636461258
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48761,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.024601874873042107,
                "transform": {
                    "location": {
                        "x": 2185.1201171875,
                        "y": 2488.191162109375,
                        "z": 365.0343322753906
                    },
                    "rotation": {
                        "roll": 6.841005233582109e-05,
                        "pitch": 0.3726141154766083,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": 9.449163189856336e-05,
                    "y": -0.0001818419259507209,
                    "z": 0.02460102178156376
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48760,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.04481297731399536,
                "transform": {
                    "location": {
                        "x": 2185.104248046875,
                        "y": 2503.19140625,
                        "z": 365.08447265625
                    },
                    "rotation": {
                        "roll": 0.001501808175817132,
                        "pitch": 0.2983904480934143,
                        "yaw": 90.06065368652344
                    }
                },
                "velocity": {
                    "x": 7.635934161953628e-05,
                    "y": -0.00026635557878762484,
                    "z": 0.044812120497226715
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "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": 0.00022286042803898454,
        "expert_target_speed": 1.0123530399383862,
        "target_point": [
            42.33962315316024,
            -0.0015590105989188308
        ],
        "target_point_next": [
            51.28197836364802,
            8.910799996274035
        ]
    },
    "15": {
        "acceleration": [
            -0.00021792213374283165,
            0.0010912164580076933,
            -0.017386451363563538
        ],
        "angular_velocity": [
            -0.012115990743041039,
            0.006478618830442429,
            0.0001791501126717776
        ],
        "forward_vector": [
            -0.0010554827749729156,
            0.999961793422699,
            0.008679280988872051
        ],
        "right_vector": [
            -0.999999463558197,
            -0.0010555043118074536,
            -2.1029263734817505e-06
        ],
        "location": [
            2185.135986328125,
            2473.19189453125,
            364.88763427734375
        ],
        "rotation": [
            0.00012049333599861711,
            0.4972923994064331,
            90.06047821044922
        ],
        "velocity": [
            1.8576682123239152e-05,
            -1.317180704063503e-05,
            0.004197442904114723
        ],
        "speed": 2.2772562864631543e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.064967155456543,
        "front_vehicle_info": {
            "id": 48761,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2185.119384765625,
                2488.256103515625,
                365.037841796875
            ],
            "velocity": [
                -0.008734759874641895,
                0.8778817057609558,
                0.013330172747373581
            ],
            "speed_kmh": 3.160894875479915,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 48764,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.09165085107088089,
                "transform": {
                    "location": {
                        "x": 2187.842529296875,
                        "y": 2514.1943359375,
                        "z": 365.13031005859375
                    },
                    "rotation": {
                        "roll": -0.000732427928596735,
                        "pitch": -0.17794691026210785,
                        "yaw": -89.93968963623047
                    }
                },
                "velocity": {
                    "x": 0.00010943231609417126,
                    "y": -0.00025877435109578073,
                    "z": 0.09165041893720627
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.02094537951052189,
                "transform": {
                    "location": {
                        "x": 2185.16748046875,
                        "y": 2443.192138671875,
                        "z": 364.5865173339844
                    },
                    "rotation": {
                        "roll": 0.0004788133082911372,
                        "pitch": 0.6738527417182922,
                        "yaw": 90.06039428710938
                    }
                },
                "velocity": {
                    "x": 9.584895451553166e-05,
                    "y": -0.00028952062712050974,
                    "z": 0.020943159237504005
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.020938217639923096,
                "transform": {
                    "location": {
                        "x": 2185.151611328125,
                        "y": 2458.19189453125,
                        "z": 364.7542419433594
                    },
                    "rotation": {
                        "roll": 0.00024053709057625383,
                        "pitch": 0.5970814228057861,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": -1.2661015716730617e-05,
                    "y": -0.0002460619725752622,
                    "z": 0.020936768501996994
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48761,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.8780263662338257,
                "transform": {
                    "location": {
                        "x": 2185.119384765625,
                        "y": 2488.256103515625,
                        "z": 365.037841796875
                    },
                    "rotation": {
                        "roll": -0.001800529076717794,
                        "pitch": 0.44404423236846924,
                        "yaw": 90.05863189697266
                    }
                },
                "velocity": {
                    "x": -0.008734759874641895,
                    "y": 0.8778817057609558,
                    "z": 0.013330172747373581
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48760,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.2409271001815796,
                "transform": {
                    "location": {
                        "x": 2185.10302734375,
                        "y": 2503.30810546875,
                        "z": 365.0918273925781
                    },
                    "rotation": {
                        "roll": -0.007202178239822388,
                        "pitch": 0.5029136538505554,
                        "yaw": 90.09552764892578
                    }
                },
                "velocity": {
                    "x": -0.012892638333141804,
                    "y": 1.240716576576233,
                    "z": 0.018878325819969177
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "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": 0.00024355693312827498,
        "expert_target_speed": 1.00712092895195,
        "target_point": [
            42.339623419772614,
            -0.0013148701194951387
        ],
        "target_point_next": [
            51.2819786302604,
            8.911044136753459
        ]
    },
    "20": {
        "acceleration": [
            0.00015076155250426382,
            0.0009391605854034424,
            0.0035519967786967754
        ],
        "angular_velocity": [
            -0.011986741796135902,
            0.014739278703927994,
            0.0002506515593267977
        ],
        "forward_vector": [
            -0.0010551252635195851,
            0.9999618530273438,
            0.00867522694170475
        ],
        "right_vector": [
            -0.999999463558197,
            -0.0010552388848736882,
            8.522532880306244e-06
        ],
        "location": [
            2185.135986328125,
            2473.19189453125,
            364.8879089355469
        ],
        "rotation": [
            -0.0004883235087618232,
            0.4970601499080658,
            90.06045532226562
        ],
        "velocity": [
            4.214502405375242e-05,
            7.618665677000536e-06,
            0.0017079812241718173
        ],
        "speed": 4.282811131942753e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.41409969329834,
        "front_vehicle_info": {
            "id": 48761,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2185.115966796875,
                2488.605224609375,
                365.0406799316406
            ],
            "velocity": [
                -0.025097621604800224,
                1.8310717344284058,
                0.014015693217515945
            ],
            "speed_kmh": 6.592670502041225,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 48764,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.193694591522217,
                "transform": {
                    "location": {
                        "x": 2187.845947265625,
                        "y": 2513.9677734375,
                        "z": 365.1390075683594
                    },
                    "rotation": {
                        "roll": 0.004353203345090151,
                        "pitch": -0.3718559741973877,
                        "yaw": -89.93380737304688
                    }
                },
                "velocity": {
                    "x": 0.030881142243742943,
                    "y": -2.1934709548950195,
                    "z": -0.005210151430219412
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.141596555709839,
                "transform": {
                    "location": {
                        "x": 2185.165771484375,
                        "y": 2443.41455078125,
                        "z": 364.5920104980469
                    },
                    "rotation": {
                        "roll": 0.00759418960660696,
                        "pitch": 0.48622748255729675,
                        "yaw": 90.20259094238281
                    }
                },
                "velocity": {
                    "x": -0.029630174860358238,
                    "y": 2.1412549018859863,
                    "z": 0.024212883785367012
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1864492893218994,
                "transform": {
                    "location": {
                        "x": 2185.147705078125,
                        "y": 2458.425048828125,
                        "z": 364.7596130371094
                    },
                    "rotation": {
                        "roll": 0.00689872819930315,
                        "pitch": 0.40355488657951355,
                        "yaw": 90.05001068115234
                    }
                },
                "velocity": {
                    "x": -0.030626943334937096,
                    "y": 2.1861348152160645,
                    "z": 0.0208960622549057
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48761,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.8312973976135254,
                "transform": {
                    "location": {
                        "x": 2185.115966796875,
                        "y": 2488.605224609375,
                        "z": 365.0406799316406
                    },
                    "rotation": {
                        "roll": -0.0012206712272018194,
                        "pitch": 0.4737555682659149,
                        "yaw": 90.1832046508789
                    }
                },
                "velocity": {
                    "x": -0.025097621604800224,
                    "y": 1.8310717344284058,
                    "z": 0.014015693217515945
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48760,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.638700246810913,
                "transform": {
                    "location": {
                        "x": 2185.097412109375,
                        "y": 2503.802490234375,
                        "z": 365.0958557128906
                    },
                    "rotation": {
                        "roll": -0.007629386615008116,
                        "pitch": 0.575989842414856,
                        "yaw": 90.26647186279297
                    }
                },
                "velocity": {
                    "x": -0.02912816032767296,
                    "y": 2.6384990215301514,
                    "z": 0.014610900543630123
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "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": -0.00018764357082545757,
        "expert_target_speed": 1.0197289532594467,
        "target_point": [
            42.33962342698684,
            0.0010573498023553202
        ],
        "target_point_next": [
            51.28147927852591,
            8.913917368237737
        ]
    },
    "25": {
        "acceleration": [
            0.0017350311391055584,
            -0.0006448552012443542,
            -0.023512929677963257
        ],
        "angular_velocity": [
            0.013660812750458717,
            -0.0014436651254072785,
            0.00010327179916203022
        ],
        "forward_vector": [
            -0.0010554827749729156,
            0.999961793422699,
            0.008678684942424297
        ],
        "right_vector": [
            -0.999999463558197,
            -0.0010555734625086188,
            5.858484200871317e-06
        ],
        "location": [
            2185.135986328125,
            2473.19189453125,
            364.8880920410156
        ],
        "rotation": [
            -0.00033567906939424574,
            0.4972582459449768,
            90.06047821044922
        ],
        "velocity": [
            -1.1043664926546626e-05,
            -6.630025745835155e-05,
            0.000583099143113941
        ],
        "speed": 6.721373872991694e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.01860809326172,
        "front_vehicle_info": {
            "id": 48761,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2185.109375,
                2489.209716796875,
                365.0445556640625
            ],
            "velocity": [
                -0.04080276936292648,
                3.0025012493133545,
                0.018834667280316353
            ],
            "speed_kmh": 10.810215186664195,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 48764,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.36901593208313,
                "transform": {
                    "location": {
                        "x": 2187.853759765625,
                        "y": 2513.2578125,
                        "z": 365.13580322265625
                    },
                    "rotation": {
                        "roll": 0.0012451160000637174,
                        "pitch": -0.3298298120498657,
                        "yaw": -89.71475219726562
                    }
                },
                "velocity": {
                    "x": 0.047209762036800385,
                    "y": -3.3686583042144775,
                    "z": -0.01346772164106369
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.338594675064087,
                "transform": {
                    "location": {
                        "x": 2185.157470703125,
                        "y": 2444.115966796875,
                        "z": 364.59967041015625
                    },
                    "rotation": {
                        "roll": 0.006919270381331444,
                        "pitch": 0.5239301323890686,
                        "yaw": 90.37838745117188
                    }
                },
                "velocity": {
                    "x": -0.04721818491816521,
                    "y": 3.338042736053467,
                    "z": 0.03814704716205597
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.316478967666626,
                "transform": {
                    "location": {
                        "x": 2185.1396484375,
                        "y": 2459.12548828125,
                        "z": 364.7660827636719
                    },
                    "rotation": {
                        "roll": 0.006079142913222313,
                        "pitch": 0.44263720512390137,
                        "yaw": 90.2557373046875
                    }
                },
                "velocity": {
                    "x": -0.0458478145301342,
                    "y": 3.316005229949951,
                    "z": 0.032259080559015274
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48761,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.002837657928467,
                "transform": {
                    "location": {
                        "x": 2185.109375,
                        "y": 2489.209716796875,
                        "z": 365.0445556640625
                    },
                    "rotation": {
                        "roll": -0.0016479240730404854,
                        "pitch": 0.4927981197834015,
                        "yaw": 90.35337829589844
                    }
                },
                "velocity": {
                    "x": -0.04080276936292648,
                    "y": 3.0025012493133545,
                    "z": 0.018834667280316353
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48760,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.2160210609436035,
                "transform": {
                    "location": {
                        "x": 2185.08740234375,
                        "y": 2504.669677734375,
                        "z": 365.1004638671875
                    },
                    "rotation": {
                        "roll": -0.006652799900621176,
                        "pitch": 0.6145325899124146,
                        "yaw": 90.45420837402344
                    }
                },
                "velocity": {
                    "x": -0.05031910166144371,
                    "y": 4.215662956237793,
                    "z": 0.02209368720650673
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "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": 0.0008057694649323821,
        "expert_target_speed": 1.0401508726238915,
        "target_point": [
            42.339623419772614,
            -0.0013148701194951387
        ],
        "target_point_next": [
            51.2819786302604,
            8.911044136753459
        ]
    },
    "30": {
        "acceleration": [
            0.0021100628655403852,
            -0.000925967120565474,
            0.0019034999422729015
        ],
        "angular_velocity": [
            0.008645202033221722,
            0.020910048857331276,
            0.0002956415992230177
        ],
        "forward_vector": [
            -0.0010554827749729156,
            0.999961793422699,
            0.008680948987603188
        ],
        "right_vector": [
            -0.999999463558197,
            -0.0010554967448115349,
            -2.977903704959317e-06
        ],
        "location": [
            2185.135986328125,
            2473.19189453125,
            364.88812255859375
        ],
        "rotation": [
            0.00017062773986253887,
            0.49738800525665283,
            90.06047821044922
        ],
        "velocity": [
            7.20680327503942e-05,
            -6.0090795159339905e-05,
            0.0017701438628137112
        ],
        "speed": 9.383338961901375e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.95467758178711,
        "front_vehicle_info": {
            "id": 48761,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2185.097900390625,
                2490.145751953125,
                365.05035400390625
            ],
            "velocity": [
                -0.06150120124220848,
                4.390471935272217,
                0.027357101440429688
            ],
            "speed_kmh": 15.807556392948179,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 48764,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.506345748901367,
                "transform": {
                    "location": {
                        "x": 2187.865966796875,
                        "y": 2512.267822265625,
                        "z": 365.1320495605469
                    },
                    "rotation": {
                        "roll": 0.00018884663586504757,
                        "pitch": -0.3002346158027649,
                        "yaw": -89.51821899414062
                    }
                },
                "velocity": {
                    "x": 0.06323176622390747,
                    "y": -4.505882263183594,
                    "z": -0.013468112796545029
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.454338073730469,
                "transform": {
                    "location": {
                        "x": 2185.14501953125,
                        "y": 2445.09521484375,
                        "z": 364.6109619140625
                    },
                    "rotation": {
                        "roll": 0.008267974480986595,
                        "pitch": 0.5474737882614136,
                        "yaw": 90.5433578491211
                    }
                },
                "velocity": {
                    "x": -0.06321568787097931,
                    "y": 4.4535956382751465,
                    "z": 0.051148850470781326
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.435030460357666,
                "transform": {
                    "location": {
                        "x": 2185.128173828125,
                        "y": 2460.099365234375,
                        "z": 364.7757263183594
                    },
                    "rotation": {
                        "roll": 0.005889063701033592,
                        "pitch": 0.456331729888916,
                        "yaw": 90.46233367919922
                    }
                },
                "velocity": {
                    "x": -0.0617600753903389,
                    "y": 4.434378147125244,
                    "z": 0.044383008033037186
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48761,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.390987873077393,
                "transform": {
                    "location": {
                        "x": 2185.097900390625,
                        "y": 2490.145751953125,
                        "z": 365.05035400390625
                    },
                    "rotation": {
                        "roll": -0.000274686113698408,
                        "pitch": 0.5163486003875732,
                        "yaw": 90.53143310546875
                    }
                },
                "velocity": {
                    "x": -0.06150120124220848,
                    "y": 4.390471935272217,
                    "z": 0.027357101440429688
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48760,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.676220893859863,
                "transform": {
                    "location": {
                        "x": 2185.072509765625,
                        "y": 2505.84619140625,
                        "z": 365.1056213378906
                    },
                    "rotation": {
                        "roll": -0.004302964545786381,
                        "pitch": 0.42644283175468445,
                        "yaw": 90.61508178710938
                    }
                },
                "velocity": {
                    "x": -0.061050161719322205,
                    "y": 4.675776481628418,
                    "z": 0.02069827914237976
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "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": 0.001067497069016099,
        "expert_target_speed": 1.0674627535567476,
        "target_point": [
            42.339623419772614,
            -0.0013148701194951387
        ],
        "target_point_next": [
            51.2819786302604,
            8.911044136753459
        ]
    },
    "35": {
        "acceleration": [
            -0.0013660346157848835,
            0.0004495173634495586,
            0.011058616451919079
        ],
        "angular_velocity": [
            -0.009551930241286755,
            -0.0266225878149271,
            -0.0001121851455536671
        ],
        "forward_vector": [
            -0.0010554827749729156,
            0.999961793422699,
            0.008680948987603188
        ],
        "right_vector": [
            -0.999999463558197,
            -0.0010554967448115349,
            -2.977903704959317e-06
        ],
        "location": [
            2185.135986328125,
            2473.19189453125,
            364.8881530761719
        ],
        "rotation": [
            0.00017062773986253887,
            0.49738800525665283,
            90.06047821044922
        ],
        "velocity": [
            -7.516681944252923e-05,
            1.0057091458293144e-05,
            0.0004988036816939712
        ],
        "speed": 7.583663912454364e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.20132064819336,
        "front_vehicle_info": {
            "id": 48761,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2185.08154296875,
                2491.392333984375,
                365.0588073730469
            ],
            "velocity": [
                -0.07425074279308319,
                5.212556838989258,
                0.032802075147628784
            ],
            "speed_kmh": 18.767479847179366,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 48764,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.203088760375977,
                "transform": {
                    "location": {
                        "x": 2187.88232421875,
                        "y": 2511.014892578125,
                        "z": 365.1281433105469
                    },
                    "rotation": {
                        "roll": -0.0007629483006894588,
                        "pitch": -0.26639100909233093,
                        "yaw": -89.36656951904297
                    }
                },
                "velocity": {
                    "x": 0.07301747053861618,
                    "y": -5.202552795410156,
                    "z": -0.015702905133366585
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.279066562652588,
                "transform": {
                    "location": {
                        "x": 2185.128662109375,
                        "y": 2446.3369140625,
                        "z": 364.62542724609375
                    },
                    "rotation": {
                        "roll": 0.008212645538151264,
                        "pitch": 0.5733875036239624,
                        "yaw": 90.66907501220703
                    }
                },
                "velocity": {
                    "x": -0.07581959664821625,
                    "y": 5.278148174285889,
                    "z": 0.06281425058841705
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.046046733856201,
                "transform": {
                    "location": {
                        "x": 2185.1123046875,
                        "y": 2461.33154296875,
                        "z": 364.7882080078125
                    },
                    "rotation": {
                        "roll": 0.006655828561633825,
                        "pitch": 0.4828328788280487,
                        "yaw": 90.62117004394531
                    }
                },
                "velocity": {
                    "x": -0.07061958312988281,
                    "y": 5.045299053192139,
                    "z": 0.0505649633705616
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48761,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.213188648223877,
                "transform": {
                    "location": {
                        "x": 2185.08154296875,
                        "y": 2491.392333984375,
                        "z": 365.0588073730469
                    },
                    "rotation": {
                        "roll": 0.0019043002976104617,
                        "pitch": 0.4735848009586334,
                        "yaw": 90.68024444580078
                    }
                },
                "velocity": {
                    "x": -0.07425074279308319,
                    "y": 5.212556838989258,
                    "z": 0.032802075147628784
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48760,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.03679895401001,
                "transform": {
                    "location": {
                        "x": 2185.060791015625,
                        "y": 2506.90234375,
                        "z": 365.1100158691406
                    },
                    "rotation": {
                        "roll": 0.010590960271656513,
                        "pitch": 0.15495648980140686,
                        "yaw": 90.60768127441406
                    }
                },
                "velocity": {
                    "x": -0.03624952211976051,
                    "y": 4.036597728729248,
                    "z": 0.017606867477297783
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "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": 8.80668667377904e-05,
        "expert_target_speed": 1.0911005502761673,
        "target_point": [
            42.339623419772614,
            -0.0013148701194951387
        ],
        "target_point_next": [
            51.2819786302604,
            8.911044136753459
        ]
    },
    "40": {
        "acceleration": [
            -0.0012285151751711965,
            -0.0005224868655204773,
            0.006095533259212971
        ],
        "angular_velocity": [
            -0.002231774153187871,
            0.002768785459920764,
            0.00014167082554195076
        ],
        "forward_vector": [
            -0.0010554827749729156,
            0.999961793422699,
            0.008680948987603188
        ],
        "right_vector": [
            -0.999999463558197,
            -0.0010554967448115349,
            -2.977903704959317e-06
        ],
        "location": [
            2185.135986328125,
            2473.19189453125,
            364.8881530761719
        ],
        "rotation": [
            0.00017062773986253887,
            0.49738800525665283,
            90.06047821044922
        ],
        "velocity": [
            7.936398105812259e-06,
            -1.9200519091100432e-05,
            0.001130351796746254
        ],
        "speed": 2.0776100410367018e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.567346572875977,
        "front_vehicle_info": {
            "id": 48761,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2185.068115234375,
                2492.75830078125,
                365.0676574707031
            ],
            "velocity": [
                -0.04417198896408081,
                5.808906555175781,
                0.03531536087393761
            ],
            "speed_kmh": 20.91305464132119,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 48764,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.920520782470703,
                "transform": {
                    "location": {
                        "x": 2187.895263671875,
                        "y": 2509.63427734375,
                        "z": 365.1234436035156
                    },
                    "rotation": {
                        "roll": -0.0063476525247097015,
                        "pitch": -0.24697962403297424,
                        "yaw": -89.49687957763672
                    }
                },
                "velocity": {
                    "x": 0.04379888251423836,
                    "y": -5.920332431793213,
                    "z": -0.017731962725520134
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.724742412567139,
                "transform": {
                    "location": {
                        "x": 2185.11572265625,
                        "y": 2447.70458984375,
                        "z": 364.6408996582031
                    },
                    "rotation": {
                        "roll": 0.0013481026981025934,
                        "pitch": 0.6011317372322083,
                        "yaw": 90.59014892578125
                    }
                },
                "velocity": {
                    "x": -0.044250767678022385,
                    "y": 5.724209308624268,
                    "z": 0.06443078815937042
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.380380868911743,
                "transform": {
                    "location": {
                        "x": 2185.107666015625,
                        "y": 2462.271728515625,
                        "z": 364.79486083984375
                    },
                    "rotation": {
                        "roll": 0.02583974413573742,
                        "pitch": 0.7667774558067322,
                        "yaw": 92.16102600097656
                    }
                },
                "velocity": {
                    "x": -0.0613032802939415,
                    "y": 2.3794822692871094,
                    "z": 0.022794246673583984
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48761,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.8091816902160645,
                "transform": {
                    "location": {
                        "x": 2185.068115234375,
                        "y": 2492.75830078125,
                        "z": 365.0676574707031
                    },
                    "rotation": {
                        "roll": 0.008887935429811478,
                        "pitch": 0.42626523971557617,
                        "yaw": 90.54808044433594
                    }
                },
                "velocity": {
                    "x": -0.04417198896408081,
                    "y": 5.808906555175781,
                    "z": 0.03531536087393761
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48760,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.8597328662872314,
                "transform": {
                    "location": {
                        "x": 2185.0517578125,
                        "y": 2507.91162109375,
                        "z": 365.1142578125
                    },
                    "rotation": {
                        "roll": 0.006537576671689749,
                        "pitch": 0.13750536739826202,
                        "yaw": 90.54898071289062
                    }
                },
                "velocity": {
                    "x": -0.032683320343494415,
                    "y": 3.8595571517944336,
                    "z": 0.01697096787393093
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "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": 0.0018718388164415956,
        "expert_target_speed": 1.1116295526081672,
        "target_point": [
            42.339623419772614,
            -0.0013148701194951387
        ],
        "target_point_next": [
            51.2819786302604,
            8.911044136753459
        ]
    },
    "45": {
        "acceleration": [
            0.000380553217837587,
            0.0008623063331469893,
            0.0024616450536996126
        ],
        "angular_velocity": [
            -0.003896280424669385,
            -0.008464755490422249,
            4.79514965263661e-05
        ],
        "forward_vector": [
            -0.0010554827749729156,
            0.999961793422699,
            0.008680948987603188
        ],
        "right_vector": [
            -0.999999463558197,
            -0.0010554967448115349,
            -2.977903704959317e-06
        ],
        "location": [
            2185.135986328125,
            2473.19189453125,
            364.8881530761719
        ],
        "rotation": [
            0.00017062773986253887,
            0.49738800525665283,
            90.06047821044922
        ],
        "velocity": [
            -2.9583241484942846e-05,
            -1.0581909918983001e-05,
            0.0007543426472693682
        ],
        "speed": 3.141886366961597e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.203142166137695,
        "front_vehicle_info": {
            "id": 48761,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2185.054931640625,
                2494.39404296875,
                365.0767822265625
            ],
            "velocity": [
                -0.055626317858695984,
                7.46334171295166,
                0.04507552832365036
            ],
            "speed_kmh": 26.86926644267577,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 48764,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.211902141571045,
                "transform": {
                    "location": {
                        "x": 2187.9072265625,
                        "y": 2508.0595703125,
                        "z": 365.1190185546875
                    },
                    "rotation": {
                        "roll": -0.0025634688790887594,
                        "pitch": -0.32088908553123474,
                        "yaw": -89.56739044189453
                    }
                },
                "velocity": {
                    "x": 0.0512394942343235,
                    "y": -7.211685657501221,
                    "z": -0.022280225530266762
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.039444446563721,
                "transform": {
                    "location": {
                        "x": 2185.10400390625,
                        "y": 2449.24658203125,
                        "z": 364.6589660644531
                    },
                    "rotation": {
                        "roll": 0.0022627534344792366,
                        "pitch": 0.5203306078910828,
                        "yaw": 90.51351928710938
                    }
                },
                "velocity": {
                    "x": -0.05110560357570648,
                    "y": 7.0388054847717285,
                    "z": 0.0798955112695694
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.9759716987609863,
                "transform": {
                    "location": {
                        "x": 2185.107177734375,
                        "y": 2462.56591796875,
                        "z": 364.7979736328125
                    },
                    "rotation": {
                        "roll": 0.018926050513982773,
                        "pitch": 0.7447227835655212,
                        "yaw": 92.89366149902344
                    }
                },
                "velocity": {
                    "x": -0.0069023678079247475,
                    "y": 0.9758958220481873,
                    "z": 0.010025672614574432
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48761,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.463685035705566,
                "transform": {
                    "location": {
                        "x": 2185.054931640625,
                        "y": 2494.39404296875,
                        "z": 365.0767822265625
                    },
                    "rotation": {
                        "roll": 0.004444799851626158,
                        "pitch": 0.5269626975059509,
                        "yaw": 90.4667739868164
                    }
                },
                "velocity": {
                    "x": -0.055626317858695984,
                    "y": 7.46334171295166,
                    "z": 0.04507552832365036
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48760,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.6762382984161377,
                "transform": {
                    "location": {
                        "x": 2185.0439453125,
                        "y": 2508.84033203125,
                        "z": 365.1173400878906
                    },
                    "rotation": {
                        "roll": 0.0026167307514697313,
                        "pitch": 0.1423274725675583,
                        "yaw": 90.51500701904297
                    }
                },
                "velocity": {
                    "x": -0.03075030818581581,
                    "y": 3.6760897636413574,
                    "z": 0.012123670428991318
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "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": -0.00031634760671295226,
        "expert_target_speed": 1.129649459721057,
        "target_point": [
            42.339623419772614,
            -0.0013148701194951387
        ],
        "target_point_next": [
            51.2819786302604,
            8.911044136753459
        ]
    },
    "50": {
        "acceleration": [
            0.02859034575521946,
            7.0188140869140625,
            0.05703868344426155
        ],
        "angular_velocity": [
            1.987401008605957,
            -0.06376873701810837,
            -0.5655352473258972
        ],
        "forward_vector": [
            -0.00017312557611148804,
            0.9999421238899231,
            0.01076093316078186
        ],
        "right_vector": [
            -1.0,
            -0.00017268869851250201,
            -4.152720430283807e-05
        ],
        "location": [
            2185.135498046875,
            2473.22216796875,
            364.8880310058594
        ],
        "rotation": [
            0.0023794714361429214,
            0.6165679693222046,
            90.00991821289062
        ],
        "velocity": [
            0.0006413307855837047,
            0.6126785278320312,
            0.005838880315423012
        ],
        "speed": 0.6126788634934305,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.964698791503906,
        "front_vehicle_info": {
            "id": 48761,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2185.041259765625,
                2496.185791015625,
                365.0892639160156
            ],
            "velocity": [
                -0.05071162432432175,
                6.780324935913086,
                0.039533719420433044
            ],
            "speed_kmh": 24.41026736912347,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 48764,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.252287864685059,
                "transform": {
                    "location": {
                        "x": 2187.921142578125,
                        "y": 2506.101806640625,
                        "z": 365.1109924316406
                    },
                    "rotation": {
                        "roll": -0.0005798572674393654,
                        "pitch": -0.3613579571247101,
                        "yaw": -89.55646514892578
                    }
                },
                "velocity": {
                    "x": 0.06101619079709053,
                    "y": -8.251972198486328,
                    "z": -0.038504984229803085
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.450075626373291,
                "transform": {
                    "location": {
                        "x": 2185.0908203125,
                        "y": 2450.971435546875,
                        "z": 364.677490234375
                    },
                    "rotation": {
                        "roll": 0.0021883100271224976,
                        "pitch": 0.6520985960960388,
                        "yaw": 90.44707489013672
                    }
                },
                "velocity": {
                    "x": -0.046735942363739014,
                    "y": 6.449487209320068,
                    "z": 0.07352504879236221
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9651399850845337,
                "transform": {
                    "location": {
                        "x": 2185.1005859375,
                        "y": 2462.94970703125,
                        "z": 364.8037109375
                    },
                    "rotation": {
                        "roll": 0.014319435693323612,
                        "pitch": 0.505925714969635,
                        "yaw": 92.46232604980469
                    }
                },
                "velocity": {
                    "x": -0.014586269855499268,
                    "y": 1.964993953704834,
                    "z": 0.01900337263941765
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48761,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.780629634857178,
                "transform": {
                    "location": {
                        "x": 2185.041259765625,
                        "y": 2496.185791015625,
                        "z": 365.0892639160156
                    },
                    "rotation": {
                        "roll": 0.0016392477555200458,
                        "pitch": 0.3421856164932251,
                        "yaw": 90.4290542602539
                    }
                },
                "velocity": {
                    "x": -0.05071162432432175,
                    "y": 6.780324935913086,
                    "z": 0.039533719420433044
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48760,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.5193700790405273,
                "transform": {
                    "location": {
                        "x": 2185.037353515625,
                        "y": 2509.62451171875,
                        "z": 365.11968994140625
                    },
                    "rotation": {
                        "roll": 0.0013142433017492294,
                        "pitch": -0.0006761886761523783,
                        "yaw": 90.4970474243164
                    }
                },
                "velocity": {
                    "x": -0.0208623968064785,
                    "y": 2.519268274307251,
                    "z": 0.00881037674844265
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "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": 0.0024608252570033073,
        "expert_target_speed": 1.7523917472000012,
        "target_point": [
            42.30933900011188,
            0.02981335224706068
        ],
        "target_point_next": [
            51.24503874553469,
            8.948845241279527
        ]
    },
    "55": {
        "acceleration": [
            -0.0077313766814768314,
            2.7178430557250977,
            0.026960745453834534
        ],
        "angular_velocity": [
            0.2460746467113495,
            0.04492424428462982,
            0.619493305683136
        ],
        "forward_vector": [
            0.0005049860337749124,
            0.9998810887336731,
            0.015413865447044373
        ],
        "right_vector": [
            -0.9999998807907104,
            0.0005046766018494964,
            2.3965721993590705e-05
        ],
        "location": [
            2185.135498046875,
            2473.5341796875,
            364.8898010253906
        ],
        "rotation": [
            -0.0013732978841289878,
            0.8831843733787537,
            89.97106170654297
        ],
        "velocity": [
            -0.00217993906699121,
            1.7022205591201782,
            0.014353293925523758
        ],
        "speed": 1.702221954982883,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 24.093412399291992,
        "front_vehicle_info": {
            "id": 48761,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2185.033447265625,
                2497.62646484375,
                365.0990905761719
            ],
            "velocity": [
                -0.016423828899860382,
                3.793252468109131,
                0.016779165714979172
            ],
            "speed_kmh": 13.655970481041797,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 48764,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.077582359313965,
                "transform": {
                    "location": {
                        "x": 2187.931884765625,
                        "y": 2504.04443359375,
                        "z": 365.10064697265625
                    },
                    "rotation": {
                        "roll": -0.004577654413878918,
                        "pitch": -0.30996763706207275,
                        "yaw": -89.7203369140625
                    }
                },
                "velocity": {
                    "x": 0.031438060104846954,
                    "y": -8.077415466308594,
                    "z": -0.04124214127659798
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.256144046783447,
                "transform": {
                    "location": {
                        "x": 2185.08203125,
                        "y": 2452.3984375,
                        "z": 364.6921081542969
                    },
                    "rotation": {
                        "roll": 0.000717348710168153,
                        "pitch": 0.8128471374511719,
                        "yaw": 90.36060333251953
                    }
                },
                "velocity": {
                    "x": -0.018021110445261,
                    "y": 4.255897045135498,
                    "z": 0.04216363653540611
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.258994221687317,
                "transform": {
                    "location": {
                        "x": 2185.09375,
                        "y": 2463.44140625,
                        "z": 364.8078308105469
                    },
                    "rotation": {
                        "roll": 0.0199094470590353,
                        "pitch": 0.580272376537323,
                        "yaw": 92.02839660644531
                    }
                },
                "velocity": {
                    "x": -0.010671406984329224,
                    "y": 1.2588871717453003,
                    "z": 0.01247751247137785
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48761,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.793325185775757,
                "transform": {
                    "location": {
                        "x": 2185.033447265625,
                        "y": 2497.62646484375,
                        "z": 365.0990905761719
                    },
                    "rotation": {
                        "roll": 0.004920602776110172,
                        "pitch": 0.08678437769412994,
                        "yaw": 90.3730697631836
                    }
                },
                "velocity": {
                    "x": -0.016423828899860382,
                    "y": 3.793252468109131,
                    "z": 0.016779165714979172
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48760,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.006280316039919853,
                "transform": {
                    "location": {
                        "x": 2185.0361328125,
                        "y": 2509.808349609375,
                        "z": 365.12017822265625
                    },
                    "rotation": {
                        "roll": -0.0006408698973245919,
                        "pitch": -0.25049033761024475,
                        "yaw": 90.52091979980469
                    }
                },
                "velocity": {
                    "x": 4.387815351947211e-05,
                    "y": -0.006207726895809174,
                    "z": 0.0009510903619229794
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "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": 0.004756390582770109,
        "expert_target_speed": 2.8344076904418105,
        "target_point": [
            41.99728775624232,
            0.06493641731641217
        ],
        "target_point_next": [
            50.92554815595551,
            8.991415343121407
        ]
    },
    "60": {
        "acceleration": [
            -0.016859974712133408,
            5.83561897277832,
            0.043815597891807556
        ],
        "angular_velocity": [
            0.5270029306411743,
            -0.024060608819127083,
            0.16538375616073608
        ],
        "forward_vector": [
            -6.071258394513279e-05,
            0.999857485294342,
            0.016880663111805916
        ],
        "right_vector": [
            -1.0,
            -6.106291402829811e-05,
            2.0237639546394348e-05
        ],
        "location": [
            2185.13525390625,
            2474.10595703125,
            364.8942565917969
        ],
        "rotation": [
            -0.0011596966069191694,
            0.9672366976737976,
            90.00347900390625
        ],
        "velocity": [
            -0.00431849667802453,
            2.89943528175354,
            0.023427190259099007
        ],
        "speed": 2.8994384977941485,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.838289260864258,
        "front_vehicle_info": {
            "id": 48761,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2185.03173828125,
                2497.943115234375,
                365.10211181640625
            ],
            "velocity": [
                -0.0018973813857883215,
                0.41509661078453064,
                0.0028388500213623047
            ],
            "speed_kmh": 1.4943983559005973,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 48764,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.94249153137207,
                "transform": {
                    "location": {
                        "x": 2187.939697265625,
                        "y": 2502.0546875,
                        "z": 365.09002685546875
                    },
                    "rotation": {
                        "roll": -0.0003051610547117889,
                        "pitch": -0.28186139464378357,
                        "yaw": -89.73461151123047
                    }
                },
                "velocity": {
                    "x": 0.03373037651181221,
                    "y": -7.942313194274902,
                    "z": -0.04114719480276108
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.001354687730781734,
                "transform": {
                    "location": {
                        "x": 2185.080322265625,
                        "y": 2452.80908203125,
                        "z": 364.69439697265625
                    },
                    "rotation": {
                        "roll": 0.0030769940931349993,
                        "pitch": 1.0610971450805664,
                        "yaw": 90.36148834228516
                    }
                },
                "velocity": {
                    "x": -0.00010653564822860062,
                    "y": -0.0013318335404619575,
                    "z": -0.00022371532395482063
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0009677170310169458,
                "transform": {
                    "location": {
                        "x": 2185.09326171875,
                        "y": 2463.4658203125,
                        "z": 364.807373046875
                    },
                    "rotation": {
                        "roll": 0.024435896426439285,
                        "pitch": 0.6641402244567871,
                        "yaw": 92.00374603271484
                    }
                },
                "velocity": {
                    "x": 3.340532202855684e-05,
                    "y": -0.0008756467723287642,
                    "z": 0.00041061308002099395
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48761,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.41511067748069763,
                "transform": {
                    "location": {
                        "x": 2185.03173828125,
                        "y": 2497.943115234375,
                        "z": 365.10211181640625
                    },
                    "rotation": {
                        "roll": 0.000722236349247396,
                        "pitch": -0.07015969604253769,
                        "yaw": 90.34842681884766
                    }
                },
                "velocity": {
                    "x": -0.0018973813857883215,
                    "y": 0.41509661078453064,
                    "z": 0.0028388500213623047
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48760,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0022576767951250076,
                "transform": {
                    "location": {
                        "x": 2185.035888671875,
                        "y": 2509.810302734375,
                        "z": 365.1202697753906
                    },
                    "rotation": {
                        "roll": 0.0013970250729471445,
                        "pitch": 0.07959219068288803,
                        "yaw": 90.52084350585938
                    }
                },
                "velocity": {
                    "x": 4.558560249279253e-05,
                    "y": -0.002129268366843462,
                    "z": 0.000749161234125495
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "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": 0.0021088768262416124,
        "expert_target_speed": 3.989492041137734,
        "target_point": [
            41.42553711323801,
            0.04418583158938005
        ],
        "target_point_next": [
            50.358155080734434,
            8.966304191300118
        ]
    },
    "65": {
        "acceleration": [
            -0.02817634493112564,
            5.744075775146484,
            0.04887409508228302
        ],
        "angular_velocity": [
            0.19165852665901184,
            -0.0004183674172963947,
            0.23931807279586792
        ],
        "forward_vector": [
            -0.0009479377185925841,
            0.9998124837875366,
            0.019341452047228813
        ],
        "right_vector": [
            -0.9999995231628418,
            -0.0009495985577814281,
            7.66860248404555e-05
        ],
        "location": [
            2185.133544921875,
            2475.044189453125,
            364.9012756347656
        ],
        "rotation": [
            -0.0043946076184511185,
            1.108252763748169,
            90.0543212890625
        ],
        "velocity": [
            -0.010140471160411835,
            4.475951671600342,
            0.03621658310294151
        ],
        "speed": 4.4759631584338635,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.17784309387207,
        "front_vehicle_info": {
            "id": 48761,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2185.0302734375,
                2498.220947265625,
                365.1003723144531
            ],
            "velocity": [
                -0.005904222372919321,
                1.5632009506225586,
                0.007453174330294132
            ],
            "speed_kmh": 5.627627526491958,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 48764,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.082606315612793,
                "transform": {
                    "location": {
                        "x": 2187.947509765625,
                        "y": 2500.04833984375,
                        "z": 365.0798034667969
                    },
                    "rotation": {
                        "roll": -0.003326415317133069,
                        "pitch": -0.30389559268951416,
                        "yaw": -89.81255340576172
                    }
                },
                "velocity": {
                    "x": 0.019521813839673996,
                    "y": -8.082475662231445,
                    "z": -0.041653845459222794
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.093591570854187,
                "transform": {
                    "location": {
                        "x": 2185.080322265625,
                        "y": 2452.962158203125,
                        "z": 364.69952392578125
                    },
                    "rotation": {
                        "roll": 0.00241237785667181,
                        "pitch": 0.6331380009651184,
                        "yaw": 90.38053131103516
                    }
                },
                "velocity": {
                    "x": -0.004007585346698761,
                    "y": 1.0935237407684326,
                    "z": 0.011492443270981312
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.7133849859237671,
                "transform": {
                    "location": {
                        "x": 2185.092041015625,
                        "y": 2463.5439453125,
                        "z": 364.809326171875
                    },
                    "rotation": {
                        "roll": 0.014724396169185638,
                        "pitch": 0.5124417543411255,
                        "yaw": 91.9683609008789
                    }
                },
                "velocity": {
                    "x": -0.006062400992959738,
                    "y": 0.7133328318595886,
                    "z": 0.0061369226314127445
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48761,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.5632299184799194,
                "transform": {
                    "location": {
                        "x": 2185.0302734375,
                        "y": 2498.220947265625,
                        "z": 365.1003723144531
                    },
                    "rotation": {
                        "roll": 0.002109985565766692,
                        "pitch": 0.3095782995223999,
                        "yaw": 90.36664581298828
                    }
                },
                "velocity": {
                    "x": -0.005904222372919321,
                    "y": 1.5632009506225586,
                    "z": 0.007453174330294132
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48760,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0008813616586849093,
                "transform": {
                    "location": {
                        "x": 2185.035888671875,
                        "y": 2509.81103515625,
                        "z": 365.12030029296875
                    },
                    "rotation": {
                        "roll": 0.002218252280727029,
                        "pitch": 0.15652060508728027,
                        "yaw": 90.5208740234375
                    }
                },
                "velocity": {
                    "x": 0.00010728093911893666,
                    "y": -0.0003775566001422703,
                    "z": 0.0007891388959251344
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "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": -0.0005550767527893186,
        "expert_target_speed": 5.4769008294617105,
        "target_point": [
            40.48732686673344,
            0.0029385317796333243
        ],
        "target_point_next": [
            49.4286535796518,
            8.916329378745788
        ]
    },
    "70": {
        "acceleration": [
            -0.020848773419857025,
            -0.87432861328125,
            -0.01537911593914032
        ],
        "angular_velocity": [
            -2.065382719039917,
            0.01853870041668415,
            0.42368370294570923
        ],
        "forward_vector": [
            -0.002190674189478159,
            0.9998537302017212,
            0.016962546855211258
        ],
        "right_vector": [
            -0.999997615814209,
            -0.0021932029630988836,
            0.00013047548418398947
        ],
        "location": [
            2185.13037109375,
            2476.31005859375,
            364.9123840332031
        ],
        "rotation": [
            -0.00747677031904459,
            0.9719290137290955,
            90.12553405761719
        ],
        "velocity": [
            -0.01705901511013508,
            5.26607084274292,
            0.043914470821619034
        ],
        "speed": 5.266098473327635,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.419254302978516,
        "front_vehicle_info": {
            "id": 48761,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2185.028076171875,
                2498.728271484375,
                365.10260009765625
            ],
            "velocity": [
                -0.008480907417833805,
                2.319509267807007,
                0.0129630658775568
            ],
            "speed_kmh": 8.350419582608998,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 48764,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.03787899017334,
                "transform": {
                    "location": {
                        "x": 2187.952392578125,
                        "y": 2498.031494140625,
                        "z": 365.0691833496094
                    },
                    "rotation": {
                        "roll": -0.0018310494488105178,
                        "pitch": -0.30056247115135193,
                        "yaw": -89.83177947998047
                    }
                },
                "velocity": {
                    "x": 0.01878959685564041,
                    "y": -8.037728309631348,
                    "z": -0.045542944222688675
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9338364601135254,
                "transform": {
                    "location": {
                        "x": 2185.078125,
                        "y": 2453.342041015625,
                        "z": 364.7043151855469
                    },
                    "rotation": {
                        "roll": 0.0034499350003898144,
                        "pitch": 0.5448373556137085,
                        "yaw": 90.35735321044922
                    }
                },
                "velocity": {
                    "x": -0.0072572240605950356,
                    "y": 1.9337170124053955,
                    "z": 0.020232925191521645
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.5421323776245117,
                "transform": {
                    "location": {
                        "x": 2185.088623046875,
                        "y": 2463.831298828125,
                        "z": 364.812255859375
                    },
                    "rotation": {
                        "roll": 0.011433996260166168,
                        "pitch": 0.475374311208725,
                        "yaw": 91.7640380859375
                    }
                },
                "velocity": {
                    "x": -0.009359091520309448,
                    "y": 1.5420293807983398,
                    "z": 0.015174751169979572
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48761,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.319561004638672,
                "transform": {
                    "location": {
                        "x": 2185.028076171875,
                        "y": 2498.728271484375,
                        "z": 365.10260009765625
                    },
                    "rotation": {
                        "roll": 0.0028175110928714275,
                        "pitch": 0.3677578568458557,
                        "yaw": 90.33631896972656
                    }
                },
                "velocity": {
                    "x": -0.008480907417833805,
                    "y": 2.319509267807007,
                    "z": 0.0129630658775568
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48760,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0009964312193915248,
                "transform": {
                    "location": {
                        "x": 2185.035888671875,
                        "y": 2509.811279296875,
                        "z": 365.12030029296875
                    },
                    "rotation": {
                        "roll": 0.0024017763789743185,
                        "pitch": 0.17472988367080688,
                        "yaw": 90.5208740234375
                    }
                },
                "velocity": {
                    "x": 0.00014237976574804634,
                    "y": -0.00013217603554949164,
                    "z": 0.0009773088386282325
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "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": -0.005511875730007887,
        "expert_target_speed": 6.187000101976916,
        "target_point": [
            39.221427863223035,
            -0.04634371218100021
        ],
        "target_point_next": [
            48.17350753156166,
            8.856247449365487
        ]
    },
    "75": {
        "acceleration": [
            -0.026788562536239624,
            -1.172637939453125,
            -0.07035888731479645
        ],
        "angular_velocity": [
            -0.9927448630332947,
            -0.023988960310816765,
            0.2592173218727112
        ],
        "forward_vector": [
            -0.0034856705460697412,
            0.999946653842926,
            0.00971981417387724
        ],
        "right_vector": [
            -0.9999939203262329,
            -0.003487284993752837,
            0.0001491298753535375
        ],
        "location": [
            2185.12548828125,
            2477.5771484375,
            364.92376708984375
        ],
        "rotation": [
            -0.008544916287064552,
            0.5569130778312683,
            90.19972229003906
        ],
        "velocity": [
            -0.02331382967531681,
            4.939181327819824,
            0.03674566000699997
        ],
        "speed": 4.939236350260851,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.42092514038086,
        "front_vehicle_info": {
            "id": 48761,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2185.02685546875,
                2498.9970703125,
                365.1061096191406
            ],
            "velocity": [
                -0.00146100961137563,
                0.3692169785499573,
                0.0020715713035315275
            ],
            "speed_kmh": 1.32921245011991,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 48770,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 2187.77685546875,
                        "y": 2576.30126953125,
                        "z": 365.43695068359375
                    },
                    "rotation": {
                        "roll": -2.6680980980131608e-08,
                        "pitch": 0.3695405423641205,
                        "yaw": -89.93964385986328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48769,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 2236.935546875,
                        "y": 2524.330322265625,
                        "z": 366.9498291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.7185369729995728,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 3.5715855273288355e-10,
                    "y": -7.851569329593577e-13,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48768,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 2135.974853515625,
                        "y": 2527.302490234375,
                        "z": 365.1903381347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2181084156036377,
                        "yaw": -0.125946044921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 2145.968994140625,
                        "y": 2524.5302734375,
                        "z": 364.9523010253906
                    },
                    "rotation": {
                        "roll": 2.6055291604820674e-11,
                        "pitch": 0.2181084156036377,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 2130.968994140625,
                        "y": 2524.5634765625,
                        "z": 365.0093994140625
                    },
                    "rotation": {
                        "roll": 2.6055291604820674e-11,
                        "pitch": 0.2181084156036377,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48764,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.026304244995117,
                "transform": {
                    "location": {
                        "x": 2187.956787109375,
                        "y": 2496.025634765625,
                        "z": 365.0577392578125
                    },
                    "rotation": {
                        "roll": 0.00014949309115763754,
                        "pitch": -0.3419124186038971,
                        "yaw": -89.88695526123047
                    }
                },
                "velocity": {
                    "x": 0.016849780455231667,
                    "y": -8.026139259338379,
                    "z": -0.048558108508586884
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.0112595558166504,
                "transform": {
                    "location": {
                        "x": 2185.075927734375,
                        "y": 2453.877685546875,
                        "z": 364.7097473144531
                    },
                    "rotation": {
                        "roll": 0.0034836381673812866,
                        "pitch": 0.5957359075546265,
                        "yaw": 90.3240737915039
                    }
                },
                "velocity": {
                    "x": -0.00747751584276557,
                    "y": 2.011129140853882,
                    "z": 0.02165163867175579
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.374439239501953,
                "transform": {
                    "location": {
                        "x": 2185.082763671875,
                        "y": 2464.322509765625,
                        "z": 364.8170471191406
                    },
                    "rotation": {
                        "roll": 0.00913980882614851,
                        "pitch": 0.4614885449409485,
                        "yaw": 91.4587173461914
                    }
                },
                "velocity": {
                    "x": -0.01491055078804493,
                    "y": 2.374290943145752,
                    "z": 0.02194257639348507
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48761,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.3692256808280945,
                "transform": {
                    "location": {
                        "x": 2185.02685546875,
                        "y": 2498.9970703125,
                        "z": 365.1061096191406
                    },
                    "rotation": {
                        "roll": 0.0011529909679666162,
                        "pitch": 0.13422687351703644,
                        "yaw": 90.31036376953125
                    }
                },
                "velocity": {
                    "x": -0.00146100961137563,
                    "y": 0.3692169785499573,
                    "z": 0.0020715713035315275
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48760,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00016235090151894838,
                "transform": {
                    "location": {
                        "x": 2185.035888671875,
                        "y": 2509.811279296875,
                        "z": 365.12030029296875
                    },
                    "rotation": {
                        "roll": 0.002309415489435196,
                        "pitch": 0.17859578132629395,
                        "yaw": 90.52086639404297
                    }
                },
                "velocity": {
                    "x": 0.00012921162124257535,
                    "y": -3.0635295843239874e-05,
                    "z": -9.340048563899472e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "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": -0.010930056683719158,
        "expert_target_speed": 5.8580838546961,
        "target_point": [
            37.95423497300592,
            -0.09793041468576671
        ],
        "target_point_next": [
            46.917910976850926,
            8.792984739336376
        ]
    },
    "80": {
        "acceleration": [
            0.003949441015720367,
            -3.7915802001953125,
            -0.03213316202163696
        ],
        "angular_velocity": [
            -0.9651559591293335,
            -0.026645872741937637,
            0.2143738865852356
        ],
        "forward_vector": [
            -0.004529337398707867,
            0.9999791979789734,
            0.004591687116771936
        ],
        "right_vector": [
            -0.9999897480010986,
            -0.0045298743061721325,
            0.0001065253745764494
        ],
        "location": [
            2185.119873046875,
            2478.702880859375,
            364.9335021972656
        ],
        "rotation": [
            -0.006103518418967724,
            0.2630852162837982,
            90.25951385498047
        ],
        "velocity": [
            -0.0241504218429327,
            4.069088459014893,
            0.03208956494927406
        ],
        "speed": 4.069160125893719,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.538776397705078,
        "front_vehicle_info": {
            "id": 48761,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2185.026123046875,
                2499.24072265625,
                365.1056823730469
            ],
            "velocity": [
                -0.005095020402222872,
                1.342692494392395,
                0.0059783076867461205
            ],
            "speed_kmh": 4.833775692691796,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 48770,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.779052734375,
                        "y": 2574.441650390625,
                        "z": 365.07342529296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3167431652545929,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48769,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.308945894241333,
                "transform": {
                    "location": {
                        "x": 2236.937744140625,
                        "y": 2524.330322265625,
                        "z": 366.5516052246094
                    },
                    "rotation": {
                        "roll": 0.0005990730714984238,
                        "pitch": -1.7437403202056885,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.03964691236615181,
                    "y": -8.033692574827e-05,
                    "z": -1.3083453178405762
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48768,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.289591908454895,
                "transform": {
                    "location": {
                        "x": 2135.974365234375,
                        "y": 2527.302490234375,
                        "z": 364.7928161621094
                    },
                    "rotation": {
                        "roll": 0.0011746203526854515,
                        "pitch": -0.21832698583602905,
                        "yaw": -0.1259460300207138
                    }
                },
                "velocity": {
                    "x": -0.00489053362980485,
                    "y": 0.00021085843036416918,
                    "z": -1.28958261013031
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.20614145696163177,
                "transform": {
                    "location": {
                        "x": 2145.96875,
                        "y": 2524.5302734375,
                        "z": 364.7356262207031
                    },
                    "rotation": {
                        "roll": 0.011617304757237434,
                        "pitch": 0.21361415088176727,
                        "yaw": 179.87405395507812
                    }
                },
                "velocity": {
                    "x": -0.00077810138463974,
                    "y": 0.00033486212487332523,
                    "z": -0.2061397135257721
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.92010498046875
                    },
                    "rotation": {
                        "roll": 2.6055291604820674e-11,
                        "pitch": 0.2181084156036377,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48764,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.045422554016113,
                "transform": {
                    "location": {
                        "x": 2187.96044921875,
                        "y": 2494.01611328125,
                        "z": 365.0455322265625
                    },
                    "rotation": {
                        "roll": -0.00039671879494562745,
                        "pitch": -0.353264182806015,
                        "yaw": -89.87440490722656
                    }
                },
                "velocity": {
                    "x": 0.012897593900561333,
                    "y": -8.045265197753906,
                    "z": -0.04852069169282913
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.5955846905708313,
                "transform": {
                    "location": {
                        "x": 2185.07470703125,
                        "y": 2454.075439453125,
                        "z": 364.7106628417969
                    },
                    "rotation": {
                        "roll": 0.003113066079095006,
                        "pitch": 0.7417448163032532,
                        "yaw": 90.28182220458984
                    }
                },
                "velocity": {
                    "x": -0.0006351806223392487,
                    "y": 0.5955443382263184,
                    "z": 0.006901903077960014
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.3195815086364746,
                "transform": {
                    "location": {
                        "x": 2185.075927734375,
                        "y": 2465.03515625,
                        "z": 364.8238830566406
                    },
                    "rotation": {
                        "roll": 0.0056219627149403095,
                        "pitch": 0.44633233547210693,
                        "yaw": 91.13123321533203
                    }
                },
                "velocity": {
                    "x": -0.019759079441428185,
                    "y": 3.3193817138671875,
                    "z": 0.030588749796152115
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48761,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.3427155017852783,
                "transform": {
                    "location": {
                        "x": 2185.026123046875,
                        "y": 2499.24072265625,
                        "z": 365.1056823730469
                    },
                    "rotation": {
                        "roll": 0.0011204631300643086,
                        "pitch": 0.33064261078834534,
                        "yaw": 90.3059310913086
                    }
                },
                "velocity": {
                    "x": -0.005095020402222872,
                    "y": 1.342692494392395,
                    "z": 0.0059783076867461205
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48760,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0007864207727834582,
                "transform": {
                    "location": {
                        "x": 2185.035888671875,
                        "y": 2509.811279296875,
                        "z": 365.12030029296875
                    },
                    "rotation": {
                        "roll": 0.0022749179042875767,
                        "pitch": 0.18241384625434875,
                        "yaw": 90.52086639404297
                    }
                },
                "velocity": {
                    "x": -6.697032222291455e-05,
                    "y": -2.3218373826239258e-05,
                    "z": 0.0007832199917174876
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "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": -0.02088056318461895,
        "expert_target_speed": 5.057060277361134,
        "target_point": [
            36.82836431865804,
            -0.13844770541115806
        ],
        "target_point_next": [
            45.80140891499081,
            8.743012222447026
        ]
    },
    "85": {
        "acceleration": [
            0.008020326495170593,
            -2.2379159927368164,
            -0.012149251997470856
        ],
        "angular_velocity": [
            0.027101507410407066,
            0.0013043159851804376,
            0.8141483068466187
        ],
        "forward_vector": [
            -0.00544846011325717,
            0.9999819993972778,
            0.0025154324248433113
        ],
        "right_vector": [
            -0.9999851584434509,
            -0.005448640789836645,
            6.498093716800213e-05
        ],
        "location": [
            2185.1142578125,
            2479.609619140625,
            364.9410095214844
        ],
        "rotation": [
            -0.0037231449969112873,
            0.14412380754947662,
            90.31217956542969
        ],
        "velocity": [
            -0.022333595901727676,
            3.2995731830596924,
            0.02531389147043228
        ],
        "speed": 3.2996487661374765,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.992841720581055,
        "front_vehicle_info": {
            "id": 48761,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2185.025146484375,
                2499.6015625,
                365.1081848144531
            ],
            "velocity": [
                0.004108503460884094,
                0.1758556365966797,
                0.0009533691336400807
            ],
            "speed_kmh": 0.6332623449450997,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 48770,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.78125,
                        "y": 2572.35791015625,
                        "z": 365.0792236328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3167431652545929,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48769,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.15702004730701447,
                "transform": {
                    "location": {
                        "x": 2236.9384765625,
                        "y": 2524.330322265625,
                        "z": 366.5227355957031
                    },
                    "rotation": {
                        "roll": -3.051761450478807e-05,
                        "pitch": -1.7593063116073608,
                        "yaw": 179.873779296875
                    }
                },
                "velocity": {
                    "x": -0.00486754160374403,
                    "y": 0.00011513675417518243,
                    "z": 0.15694454312324524
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48768,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.15647238492965698,
                "transform": {
                    "location": {
                        "x": 2135.974365234375,
                        "y": 2527.302490234375,
                        "z": 364.76470947265625
                    },
                    "rotation": {
                        "roll": 0.001239141565747559,
                        "pitch": -0.2181698977947235,
                        "yaw": -0.1259765475988388
                    }
                },
                "velocity": {
                    "x": 0.0005994642851874232,
                    "y": -6.79721706546843e-05,
                    "z": 0.15647122263908386
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.09224303811788559,
                "transform": {
                    "location": {
                        "x": 2145.96875,
                        "y": 2524.5302734375,
                        "z": 364.74755859375
                    },
                    "rotation": {
                        "roll": 0.002941013779491186,
                        "pitch": 0.21763713657855988,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 0.00035906824632547796,
                    "y": 6.731638859491795e-05,
                    "z": 0.09224231541156769
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.92010498046875
                    },
                    "rotation": {
                        "roll": 2.6055291604820674e-11,
                        "pitch": 0.2181084156036377,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48764,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.038309097290039,
                "transform": {
                    "location": {
                        "x": 2187.964111328125,
                        "y": 2492.005615234375,
                        "z": 365.0330505371094
                    },
                    "rotation": {
                        "roll": 3.808703331742436e-05,
                        "pitch": -0.353605717420578,
                        "yaw": -89.92649841308594
                    }
                },
                "velocity": {
                    "x": 0.012876874767243862,
                    "y": -8.038143157958984,
                    "z": -0.05001320689916611
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.4915671348571777,
                "transform": {
                    "location": {
                        "x": 2185.07373046875,
                        "y": 2454.335693359375,
                        "z": 364.7150573730469
                    },
                    "rotation": {
                        "roll": 0.002373815281316638,
                        "pitch": 0.5545908212661743,
                        "yaw": 90.25605773925781
                    }
                },
                "velocity": {
                    "x": -0.005623465869575739,
                    "y": 1.491479516029358,
                    "z": 0.01515601109713316
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.426168918609619,
                "transform": {
                    "location": {
                        "x": 2185.06787109375,
                        "y": 2466.00732421875,
                        "z": 364.8332214355469
                    },
                    "rotation": {
                        "roll": 0.003946939017623663,
                        "pitch": 0.4160268008708954,
                        "yaw": 90.82853698730469
                    }
                },
                "velocity": {
                    "x": -0.02551882155239582,
                    "y": 4.425893306732178,
                    "z": 0.042313117533922195
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48761,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.1759062111377716,
                "transform": {
                    "location": {
                        "x": 2185.025146484375,
                        "y": 2499.6015625,
                        "z": 365.1081848144531
                    },
                    "rotation": {
                        "roll": 0.0015442899893969297,
                        "pitch": 0.240852952003479,
                        "yaw": 90.408203125
                    }
                },
                "velocity": {
                    "x": 0.004108503460884094,
                    "y": 0.1758556365966797,
                    "z": 0.0009533691336400807
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48760,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0009797441307455301,
                "transform": {
                    "location": {
                        "x": 2185.035888671875,
                        "y": 2509.811279296875,
                        "z": 365.12030029296875
                    },
                    "rotation": {
                        "roll": 0.0022749179042875767,
                        "pitch": 0.18241384625434875,
                        "yaw": 90.52086639404297
                    }
                },
                "velocity": {
                    "x": -7.381050090771168e-05,
                    "y": -2.515761116228532e-05,
                    "z": 0.0009766359580680728
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "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": -0.022576618939638138,
        "expert_target_speed": 4.315789033318588,
        "target_point": [
            35.92147008082432,
            -0.17212983467970835
        ],
        "target_point_next": [
            44.90246865842726,
            8.701286887588068
        ]
    },
    "90": {
        "acceleration": [
            -0.06770558655261993,
            1.4741706848144531,
            0.005497932434082031
        ],
        "angular_velocity": [
            1.0267609357833862,
            0.0015204540686681867,
            0.09439192712306976
        ],
        "forward_vector": [
            -0.007623652927577496,
            0.9999566674232483,
            0.005341384559869766
        ],
        "right_vector": [
            -0.9999708533287048,
            -0.007625274360179901,
            0.0002833565231412649
        ],
        "location": [
            2185.10595703125,
            2480.4228515625,
            364.94647216796875
        ],
        "rotation": [
            -0.016235364601016045,
            0.3060402572154999,
            90.43681335449219
        ],
        "velocity": [
            -0.0432707816362381,
            3.342099905014038,
            0.025328978896141052
        ],
        "speed": 3.3423800106568153,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.179563522338867,
        "front_vehicle_info": {
            "id": 48761,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2185.025146484375,
                2499.6015625,
                365.1083068847656
            ],
            "velocity": [
                8.218880793720018e-06,
                -0.0005153600941412151,
                0.001199756283313036
            ],
            "speed_kmh": 0.004700831858208793,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 48770,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.783447265625,
                        "y": 2570.27392578125,
                        "z": 365.08709716796875
                    },
                    "rotation": {
                        "roll": 1.334035371058917e-08,
                        "pitch": 0.26409608125686646,
                        "yaw": -89.93962860107422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48769,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.2520297765731812,
                "transform": {
                    "location": {
                        "x": 2236.781982421875,
                        "y": 2524.328369140625,
                        "z": 366.54156494140625
                    },
                    "rotation": {
                        "roll": -0.004150389693677425,
                        "pitch": -1.6854857206344604,
                        "yaw": 179.93116760253906
                    }
                },
                "velocity": {
                    "x": -1.2519901990890503,
                    "y": -0.007967593148350716,
                    "z": 0.005954551510512829
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48768,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.3635672330856323,
                "transform": {
                    "location": {
                        "x": 2136.141845703125,
                        "y": 2527.304443359375,
                        "z": 364.78753662109375
                    },
                    "rotation": {
                        "roll": -0.0029907224234193563,
                        "pitch": -0.14364570379257202,
                        "yaw": -0.1017761155962944
                    }
                },
                "velocity": {
                    "x": 1.362870454788208,
                    "y": 0.02154015190899372,
                    "z": 0.03788956627249718
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.013678474351763725,
                "transform": {
                    "location": {
                        "x": 2145.96875,
                        "y": 2524.5302734375,
                        "z": 364.75909423828125
                    },
                    "rotation": {
                        "roll": 0.0011947841849178076,
                        "pitch": 0.21843627095222473,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 5.915317524340935e-05,
                    "y": -2.382167622272391e-05,
                    "z": 0.013678326271474361
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.92010498046875
                    },
                    "rotation": {
                        "roll": 2.6055291604820674e-11,
                        "pitch": 0.2181084156036377,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48764,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.037406921386719,
                "transform": {
                    "location": {
                        "x": 2187.966552734375,
                        "y": 2489.99658203125,
                        "z": 365.0204162597656
                    },
                    "rotation": {
                        "roll": -9.152909478871152e-05,
                        "pitch": -0.3686526119709015,
                        "yaw": -89.90164184570312
                    }
                },
                "velocity": {
                    "x": 0.010888841934502125,
                    "y": -8.037229537963867,
                    "z": -0.05217974632978439
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.279059648513794,
                "transform": {
                    "location": {
                        "x": 2185.07177734375,
                        "y": 2454.81640625,
                        "z": 364.7204284667969
                    },
                    "rotation": {
                        "roll": 0.0021423939615488052,
                        "pitch": 0.5230216979980469,
                        "yaw": 90.24856567382812
                    }
                },
                "velocity": {
                    "x": -0.008197404444217682,
                    "y": 2.278917074203491,
                    "z": 0.024149999022483826
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.172043800354004,
                "transform": {
                    "location": {
                        "x": 2185.060791015625,
                        "y": 2467.2431640625,
                        "z": 364.8448486328125
                    },
                    "rotation": {
                        "roll": 0.0010630853939801455,
                        "pitch": 0.434379518032074,
                        "yaw": 90.54151916503906
                    }
                },
                "velocity": {
                    "x": -0.018172651529312134,
                    "y": 5.171783447265625,
                    "z": 0.048586271703243256
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48761,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0013057865435257554,
                "transform": {
                    "location": {
                        "x": 2185.025146484375,
                        "y": 2499.6015625,
                        "z": 365.1083068847656
                    },
                    "rotation": {
                        "roll": -0.00021361850667744875,
                        "pitch": 0.22739064693450928,
                        "yaw": 90.40807342529297
                    }
                },
                "velocity": {
                    "x": 8.218880793720018e-06,
                    "y": -0.0005153600941412151,
                    "z": 0.001199756283313036
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48760,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0006713309558108449,
                "transform": {
                    "location": {
                        "x": 2185.035888671875,
                        "y": 2509.811279296875,
                        "z": 365.12030029296875
                    },
                    "rotation": {
                        "roll": 0.0022749179042875767,
                        "pitch": 0.18241384625434875,
                        "yaw": 90.52086639404297
                    }
                },
                "velocity": {
                    "x": -1.8103039110428654e-05,
                    "y": -7.08555808159872e-06,
                    "z": -0.0006710494053550065
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "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": -0.038895219564437866,
        "expert_target_speed": 4.336384302187508,
        "target_point": [
            35.10773492796252,
            -0.252890678624962
        ],
        "target_point_next": [
            44.108143625955414,
            8.600837521801187
        ]
    },
    "95": {
        "acceleration": [
            -0.09707532823085785,
            2.824702262878418,
            0.03683660179376602
        ],
        "angular_velocity": [
            0.7682467699050903,
            0.010438135825097561,
            1.0827275514602661
        ],
        "forward_vector": [
            -0.010935722850263119,
            0.9998961091041565,
            0.009394627064466476
        ],
        "right_vector": [
            -0.9999401569366455,
            -0.010938916355371475,
            0.00028867414221167564
        ],
        "location": [
            2185.093505859375,
            2481.330322265625,
            364.9523620605469
        ],
        "rotation": [
            -0.016540540382266045,
            0.5382803678512573,
            90.6266098022461
        ],
        "velocity": [
            -0.06402214616537094,
            3.9266552925109863,
            0.028201855719089508
        ],
        "speed": 3.927177182328824,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.272274017333984,
        "front_vehicle_info": {
            "id": 48761,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2185.025146484375,
                2499.601806640625,
                365.10791015625
            ],
            "velocity": [
                -4.9162448704009876e-05,
                -0.0001228146575158462,
                0.0012880128342658281
            ],
            "speed_kmh": 0.004661238861306138,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 48770,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.78564453125,
                        "y": 2568.190185546875,
                        "z": 365.0975646972656
                    },
                    "rotation": {
                        "roll": 1.334035371058917e-08,
                        "pitch": 0.26409608125686646,
                        "yaw": -89.93962860107422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48769,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.026388645172119,
                "transform": {
                    "location": {
                        "x": 2236.388916015625,
                        "y": 2524.326171875,
                        "z": 366.5340881347656
                    },
                    "rotation": {
                        "roll": -0.006408691871911287,
                        "pitch": -1.7040979862213135,
                        "yaw": -179.92347717285156
                    }
                },
                "velocity": {
                    "x": -2.025550603866577,
                    "y": -0.0155024453997612,
                    "z": -0.05617325007915497
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48768,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.9755088090896606,
                "transform": {
                    "location": {
                        "x": 2136.529052734375,
                        "y": 2527.30859375,
                        "z": 364.7906188964844
                    },
                    "rotation": {
                        "roll": -0.0025634765625,
                        "pitch": -0.16744890809059143,
                        "yaw": 0.06702379882335663
                    }
                },
                "velocity": {
                    "x": 1.9753451347351074,
                    "y": 0.025364868342876434,
                    "z": -0.0017656802665442228
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.2570983171463013,
                "transform": {
                    "location": {
                        "x": 2145.787841796875,
                        "y": 2524.529052734375,
                        "z": 364.7601013183594
                    },
                    "rotation": {
                        "roll": -0.0008850095910020173,
                        "pitch": 0.25236865878105164,
                        "yaw": 179.9357452392578
                    }
                },
                "velocity": {
                    "x": -1.257035255432129,
                    "y": -0.012102507054805756,
                    "z": 0.0034741400741040707
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.92010498046875
                    },
                    "rotation": {
                        "roll": 2.6055291604820674e-11,
                        "pitch": 0.2181084156036377,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48764,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.039667129516602,
                "transform": {
                    "location": {
                        "x": 2187.968994140625,
                        "y": 2487.987060546875,
                        "z": 365.00738525390625
                    },
                    "rotation": {
                        "roll": 0.0011192138772457838,
                        "pitch": -0.37047627568244934,
                        "yaw": -89.94097900390625
                    }
                },
                "velocity": {
                    "x": 0.009317683055996895,
                    "y": -8.039487838745117,
                    "z": -0.052992574870586395
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7520936727523804,
                "transform": {
                    "location": {
                        "x": 2185.069580078125,
                        "y": 2455.337646484375,
                        "z": 364.7252197265625
                    },
                    "rotation": {
                        "roll": 0.003555595176294446,
                        "pitch": 0.630125880241394,
                        "yaw": 90.2406005859375
                    }
                },
                "velocity": {
                    "x": -0.006858295761048794,
                    "y": 1.7519809007644653,
                    "z": 0.018657168373465538
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.618698596954346,
                "transform": {
                    "location": {
                        "x": 2185.05517578125,
                        "y": 2468.60107421875,
                        "z": 364.8569030761719
                    },
                    "rotation": {
                        "roll": 0.001699895947240293,
                        "pitch": 0.4788167178630829,
                        "yaw": 90.3189697265625
                    }
                },
                "velocity": {
                    "x": -0.017933741211891174,
                    "y": 5.618449687957764,
                    "z": 0.049774836748838425
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48761,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0012947885552421212,
                "transform": {
                    "location": {
                        "x": 2185.025146484375,
                        "y": 2499.601806640625,
                        "z": 365.10791015625
                    },
                    "rotation": {
                        "roll": 0.002311725402250886,
                        "pitch": 0.2758576571941376,
                        "yaw": 90.40806579589844
                    }
                },
                "velocity": {
                    "x": -4.9162448704009876e-05,
                    "y": -0.0001228146575158462,
                    "z": 0.0012880128342658281
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48760,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00042481470154598355,
                "transform": {
                    "location": {
                        "x": 2185.035888671875,
                        "y": 2509.811279296875,
                        "z": 365.12030029296875
                    },
                    "rotation": {
                        "roll": 0.0022749179042875767,
                        "pitch": 0.18241384625434875,
                        "yaw": 90.52086639404297
                    }
                },
                "velocity": {
                    "x": -9.933008550433442e-05,
                    "y": 2.4622268028906547e-05,
                    "z": 0.0004123042745050043
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "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": -0.06065654754638672,
        "expert_target_speed": 4.8539765905356465,
        "target_point": [
            34.199153833097796,
            -0.37153826703048287
        ],
        "target_point_next": [
            43.22879766780492,
            8.452371977088218
        ]
    },
    "100": {
        "acceleration": [
            -0.12847021222114563,
            2.850313186645508,
            0.016524121165275574
        ],
        "angular_velocity": [
            0.321002334356308,
            0.012005404569208622,
            0.9719721674919128
        ],
        "forward_vector": [
            -0.014867821708321571,
            0.9998217225074768,
            0.011636708863079548
        ],
        "right_vector": [
            -0.9998893141746521,
            -0.014872917905449867,
            0.0003515137068461627
        ],
        "location": [
            2185.074462890625,
            2482.40673828125,
            364.9598388671875
        ],
        "rotation": [
            -0.020141616463661194,
            0.6667493581771851,
            90.8519515991211
        ],
        "velocity": [
            -0.09324456751346588,
            4.644171237945557,
            0.03374648839235306
        ],
        "speed": 4.6451072147725005,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.196020126342773,
        "front_vehicle_info": {
            "id": 48761,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2185.025146484375,
                2499.60205078125,
                365.1077575683594
            ],
            "velocity": [
                1.9306982721900567e-05,
                -5.2789673645747826e-05,
                0.0014574929373338819
            ],
            "speed_kmh": 0.0052508751103013855,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 48770,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.78759765625,
                        "y": 2566.106201171875,
                        "z": 365.1081237792969
                    },
                    "rotation": {
                        "roll": 1.334035371058917e-08,
                        "pitch": 0.26409608125686646,
                        "yaw": -89.93962860107422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48769,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.130767583847046,
                "transform": {
                    "location": {
                        "x": 2235.73876953125,
                        "y": 2524.322021484375,
                        "z": 366.5146484375
                    },
                    "rotation": {
                        "roll": -0.0115966796875,
                        "pitch": -1.6758073568344116,
                        "yaw": -179.8094940185547
                    }
                },
                "velocity": {
                    "x": -3.1292738914489746,
                    "y": -0.02288282848894596,
                    "z": -0.09395068138837814
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48768,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.2245538234710693,
                "transform": {
                    "location": {
                        "x": 2137.154296875,
                        "y": 2527.31591796875,
                        "z": 364.78857421875
                    },
                    "rotation": {
                        "roll": -0.0026855466421693563,
                        "pitch": -0.13339358568191528,
                        "yaw": 0.17496474087238312
                    }
                },
                "velocity": {
                    "x": 3.22426700592041,
                    "y": 0.04169918969273567,
                    "z": -0.01054162997752428
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.872509479522705,
                "transform": {
                    "location": {
                        "x": 2145.384521484375,
                        "y": 2524.526611328125,
                        "z": 364.7615661621094
                    },
                    "rotation": {
                        "roll": -0.0003662108792923391,
                        "pitch": 0.24282003939151764,
                        "yaw": -179.98403930664062
                    }
                },
                "velocity": {
                    "x": -1.8724207878112793,
                    "y": -0.017176872119307518,
                    "z": 0.0061060236766934395
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.13621705770492554,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.84393310546875
                    },
                    "rotation": {
                        "roll": 0.00034241023240610957,
                        "pitch": 0.2189963459968567,
                        "yaw": 179.87405395507812
                    }
                },
                "velocity": {
                    "x": -0.0005060919211246073,
                    "y": 2.2954714950174093e-05,
                    "z": -0.13621611893177032
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48764,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.039292335510254,
                "transform": {
                    "location": {
                        "x": 2187.970703125,
                        "y": 2485.977294921875,
                        "z": 364.9939270019531
                    },
                    "rotation": {
                        "roll": 0.00028016415308229625,
                        "pitch": -0.3855914771556854,
                        "yaw": -89.90592193603516
                    }
                },
                "velocity": {
                    "x": 0.010590093210339546,
                    "y": -8.039083480834961,
                    "z": -0.05695309489965439
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9213742017745972,
                "transform": {
                    "location": {
                        "x": 2185.06787109375,
                        "y": 2455.768798828125,
                        "z": 364.72998046875
                    },
                    "rotation": {
                        "roll": 0.0028473325073719025,
                        "pitch": 0.602641224861145,
                        "yaw": 90.2326431274414
                    }
                },
                "velocity": {
                    "x": -0.007170230615884066,
                    "y": 1.9212663173675537,
                    "z": 0.019054394215345383
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.8410401344299316,
                "transform": {
                    "location": {
                        "x": 2185.05126953125,
                        "y": 2469.772705078125,
                        "z": 364.8648376464844
                    },
                    "rotation": {
                        "roll": 0.003239127341657877,
                        "pitch": 0.7219236493110657,
                        "yaw": 90.24201965332031
                    }
                },
                "velocity": {
                    "x": -0.008877119049429893,
                    "y": 2.840926170349121,
                    "z": 0.023828735575079918
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48761,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0014585764147341251,
                "transform": {
                    "location": {
                        "x": 2185.025146484375,
                        "y": 2499.60205078125,
                        "z": 365.1077575683594
                    },
                    "rotation": {
                        "roll": 0.0024216400925070047,
                        "pitch": 0.29087725281715393,
                        "yaw": 90.40808868408203
                    }
                },
                "velocity": {
                    "x": 1.9306982721900567e-05,
                    "y": -5.2789673645747826e-05,
                    "z": 0.0014574929373338819
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48760,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00024551505339331925,
                "transform": {
                    "location": {
                        "x": 2185.035888671875,
                        "y": 2509.811279296875,
                        "z": 365.12030029296875
                    },
                    "rotation": {
                        "roll": 0.0022749179042875767,
                        "pitch": 0.18241384625434875,
                        "yaw": 90.52086639404297
                    }
                },
                "velocity": {
                    "x": 4.994973892280541e-07,
                    "y": -1.0264571756124496e-05,
                    "z": 0.0002452998887747526
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "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": -0.08623817563056946,
        "expert_target_speed": 5.458402873090804,
        "target_point": [
            33.120848418932056,
            -0.5090445611163067
        ],
        "target_point_next": [
            42.18511797046916,
            8.279293010632106
        ]
    },
    "105": {
        "acceleration": [
            -0.016034841537475586,
            -1.5597152709960938,
            -0.027280598878860474
        ],
        "angular_velocity": [
            -0.9797624945640564,
            0.022040313109755516,
            4.48315954208374
        ],
        "forward_vector": [
            -0.019675511866807938,
            0.9997363090515137,
            0.011839709244668484
        ],
        "right_vector": [
            -0.9998062252998352,
            -0.019681496545672417,
            0.0003893258690368384
        ],
        "location": [
            2185.0478515625,
            2483.6533203125,
            364.96893310546875
        ],
        "rotation": [
            -0.022308293730020523,
            0.6783812046051025,
            91.12747955322266
        ],
        "velocity": [
            -0.12252136319875717,
            5.121161937713623,
            0.037197332829236984
        ],
        "speed": 5.122627360713136,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.949350357055664,
        "front_vehicle_info": {
            "id": 48761,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2185.025146484375,
                2499.60205078125,
                365.1077575683594
            ],
            "velocity": [
                -5.311816494213417e-05,
                -1.54465433297446e-05,
                0.0014912153128534555
            ],
            "speed_kmh": 0.005372067651090618,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 48770,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.7900390625,
                        "y": 2564.029541015625,
                        "z": 365.1168212890625
                    },
                    "rotation": {
                        "roll": -6.6701515422096236e-09,
                        "pitch": 0.21146264672279358,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48769,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.791475296020508,
                "transform": {
                    "location": {
                        "x": 2234.73779296875,
                        "y": 2524.315185546875,
                        "z": 366.4839782714844
                    },
                    "rotation": {
                        "roll": -0.013427735306322575,
                        "pitch": -1.6562457084655762,
                        "yaw": -179.69546508789062
                    }
                },
                "velocity": {
                    "x": -4.789106845855713,
                    "y": -0.036426763981580734,
                    "z": -0.14615949988365173
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48768,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.436351776123047,
                "transform": {
                    "location": {
                        "x": 2138.1220703125,
                        "y": 2527.324951171875,
                        "z": 364.7850341796875
                    },
                    "rotation": {
                        "roll": 0.001614147680811584,
                        "pitch": -0.1354972869157791,
                        "yaw": 0.333511620759964
                    }
                },
                "velocity": {
                    "x": 4.436239719390869,
                    "y": 0.027470402419567108,
                    "z": -0.015507516451179981
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.3784384727478027,
                "transform": {
                    "location": {
                        "x": 2144.852783203125,
                        "y": 2524.522705078125,
                        "z": 364.7635192871094
                    },
                    "rotation": {
                        "roll": -6.103519262978807e-05,
                        "pitch": 0.23573030531406403,
                        "yaw": -179.8556671142578
                    }
                },
                "velocity": {
                    "x": -2.3783202171325684,
                    "y": -0.022482573986053467,
                    "z": 0.00759136164560914
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.018093647435307503,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.82958984375
                    },
                    "rotation": {
                        "roll": 0.0002483863499946892,
                        "pitch": 0.21931736171245575,
                        "yaw": 179.87405395507812
                    }
                },
                "velocity": {
                    "x": -3.332894266350195e-05,
                    "y": -5.0737256970023736e-05,
                    "z": -0.018093544989824295
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48764,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.038932800292969,
                "transform": {
                    "location": {
                        "x": 2187.97314453125,
                        "y": 2483.967529296875,
                        "z": 364.98004150390625
                    },
                    "rotation": {
                        "roll": 0.00010441654740134254,
                        "pitch": -0.412140429019928,
                        "yaw": -89.94719696044922
                    }
                },
                "velocity": {
                    "x": 0.009811961092054844,
                    "y": -8.038723945617676,
                    "z": -0.057094164192676544
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.7871897220611572,
                "transform": {
                    "location": {
                        "x": 2185.065673828125,
                        "y": 2456.35986328125,
                        "z": 364.7367858886719
                    },
                    "rotation": {
                        "roll": 0.0007184281130321324,
                        "pitch": 0.5322014689445496,
                        "yaw": 90.2258529663086
                    }
                },
                "velocity": {
                    "x": -0.0052710650488734245,
                    "y": 2.78702974319458,
                    "z": 0.029399309307336807
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.8625246286392212,
                "transform": {
                    "location": {
                        "x": 2185.05029296875,
                        "y": 2470.024658203125,
                        "z": 364.8667907714844
                    },
                    "rotation": {
                        "roll": 0.003578504081815481,
                        "pitch": 0.7566415071487427,
                        "yaw": 90.23164367675781
                    }
                },
                "velocity": {
                    "x": -0.006486282683908939,
                    "y": 0.8624665141105652,
                    "z": 0.007623843848705292
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48761,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0014922410482540727,
                "transform": {
                    "location": {
                        "x": 2185.025146484375,
                        "y": 2499.60205078125,
                        "z": 365.1077575683594
                    },
                    "rotation": {
                        "roll": 0.0024216400925070047,
                        "pitch": 0.29087725281715393,
                        "yaw": 90.40808868408203
                    }
                },
                "velocity": {
                    "x": -5.311816494213417e-05,
                    "y": -1.54465433297446e-05,
                    "z": 0.0014912153128534555
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48760,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00038202438736334443,
                "transform": {
                    "location": {
                        "x": 2185.035888671875,
                        "y": 2509.811279296875,
                        "z": 365.12030029296875
                    },
                    "rotation": {
                        "roll": 0.0022749179042875767,
                        "pitch": 0.18241384625434875,
                        "yaw": 90.52086639404297
                    }
                },
                "velocity": {
                    "x": -2.139495154551696e-05,
                    "y": -1.3730320461036172e-05,
                    "z": 0.0003811775823123753
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "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": -0.12419009953737259,
        "expert_target_speed": 5.800512760651036,
        "target_point": [
            31.87114985217675,
            -0.6705528093774428
        ],
        "target_point_next": [
            40.97762047606821,
            8.074048528255346
        ]
    },
    "110": {
        "acceleration": [
            -0.16261786222457886,
            2.4730300903320312,
            -0.025240331888198853
        ],
        "angular_velocity": [
            0.37850967049598694,
            0.029828127473592758,
            4.410333156585693
        ],
        "forward_vector": [
            -0.023766817525029182,
            0.9996669292449951,
            0.010054538026452065
        ],
        "right_vector": [
            -0.9997172355651855,
            -0.023772265762090683,
            0.0004228893667459488
        ],
        "location": [
            2185.014892578125,
            2484.932861328125,
            364.9783630371094
        ],
        "rotation": [
            -0.024230999872088432,
            0.5760923027992249,
            91.3619384765625
        ],
        "velocity": [
            -0.1524430215358734,
            5.3805060386657715,
            0.03706295043230057
        ],
        "speed": 5.3826651490626665,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.669763565063477,
        "front_vehicle_info": {
            "id": 48761,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2185.025146484375,
                2499.60205078125,
                365.10772705078125
            ],
            "velocity": [
                -7.412357717839768e-06,
                -7.422826911351876e-06,
                0.0017609103815630078
            ],
            "speed_kmh": 0.00633938985679242,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 48770,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.7919921875,
                        "y": 2562.03173828125,
                        "z": 365.12506103515625
                    },
                    "rotation": {
                        "roll": -6.6701515422096236e-09,
                        "pitch": 0.21146264672279358,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48769,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.743678569793701,
                "transform": {
                    "location": {
                        "x": 2233.412353515625,
                        "y": 2524.30615234375,
                        "z": 366.4436950683594
                    },
                    "rotation": {
                        "roll": -0.0181884765625,
                        "pitch": -1.6878694295883179,
                        "yaw": -179.56044006347656
                    }
                },
                "velocity": {
                    "x": -5.740849018096924,
                    "y": -0.04263810068368912,
                    "z": -0.1751476228237152
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48768,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.505734443664551,
                "transform": {
                    "location": {
                        "x": 2139.3291015625,
                        "y": 2527.331787109375,
                        "z": 364.7806091308594
                    },
                    "rotation": {
                        "roll": 0.0004025497182738036,
                        "pitch": -0.15219026803970337,
                        "yaw": 0.2966793477535248
                    }
                },
                "velocity": {
                    "x": 5.505606651306152,
                    "y": 0.03127433732151985,
                    "z": -0.020667534321546555
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.9392027854919434,
                "transform": {
                    "location": {
                        "x": 2144.185302734375,
                        "y": 2524.517333984375,
                        "z": 364.76611328125
                    },
                    "rotation": {
                        "roll": 0.0009940735762938857,
                        "pitch": 0.23652943968772888,
                        "yaw": -179.7213592529297
                    }
                },
                "velocity": {
                    "x": -2.9390389919281006,
                    "y": -0.029272986575961113,
                    "z": 0.010278101079165936
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0020297772716730833,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8279113769531
                    },
                    "rotation": {
                        "roll": 0.00031114998273551464,
                        "pitch": 0.21935833990573883,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": -3.600977288442664e-05,
                    "y": 0.00010263299918733537,
                    "z": -0.0020268610678613186
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48764,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.039583206176758,
                "transform": {
                    "location": {
                        "x": 2187.974853515625,
                        "y": 2481.9580078125,
                        "z": 364.965576171875
                    },
                    "rotation": {
                        "roll": 0.00035517889773473144,
                        "pitch": -0.40979084372520447,
                        "yaw": -89.91021728515625
                    }
                },
                "velocity": {
                    "x": 0.012176570482552052,
                    "y": -8.039373397827148,
                    "z": -0.05679522454738617
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.806234359741211,
                "transform": {
                    "location": {
                        "x": 2185.0634765625,
                        "y": 2457.182861328125,
                        "z": 364.74566650390625
                    },
                    "rotation": {
                        "roll": 0.0009460178553126752,
                        "pitch": 0.5046485066413879,
                        "yaw": 90.19447326660156
                    }
                },
                "velocity": {
                    "x": -0.009227676317095757,
                    "y": 3.8060145378112793,
                    "z": 0.03984348103404045
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.903949499130249,
                "transform": {
                    "location": {
                        "x": 2185.04833984375,
                        "y": 2470.379638671875,
                        "z": 364.8725280761719
                    },
                    "rotation": {
                        "roll": 0.0023711328394711018,
                        "pitch": 0.4401988387107849,
                        "yaw": 90.2148666381836
                    }
                },
                "velocity": {
                    "x": -0.004853908438235521,
                    "y": 1.9038832187652588,
                    "z": 0.015129308216273785
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48761,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0017609415808692575,
                "transform": {
                    "location": {
                        "x": 2185.025146484375,
                        "y": 2499.60205078125,
                        "z": 365.10772705078125
                    },
                    "rotation": {
                        "roll": 0.0023143040016293526,
                        "pitch": 0.2946475148200989,
                        "yaw": 90.4081039428711
                    }
                },
                "velocity": {
                    "x": -7.412357717839768e-06,
                    "y": -7.422826911351876e-06,
                    "z": 0.0017609103815630078
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48760,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.06675847619771957,
                "transform": {
                    "location": {
                        "x": 2185.035888671875,
                        "y": 2509.818359375,
                        "z": 365.12030029296875
                    },
                    "rotation": {
                        "roll": 0.0013773912796750665,
                        "pitch": 0.19163461029529572,
                        "yaw": 90.53137969970703
                    }
                },
                "velocity": {
                    "x": -0.0007040809723548591,
                    "y": 0.06675021350383759,
                    "z": 0.0007788848597556353
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "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": -0.16236835718154907,
        "expert_target_speed": 5.908340385702149,
        "target_point": [
            30.588179285437146,
            -0.8033804520255063
        ],
        "target_point_next": [
            39.73032307019427,
            7.903919175112299
        ]
    },
    "115": {
        "acceleration": [
            0.038898587226867676,
            -1.6968250274658203,
            -0.05237940698862076
        ],
        "angular_velocity": [
            -0.8467836976051331,
            -0.0890423133969307,
            0.6482385993003845
        ],
        "forward_vector": [
            -0.028126182034611702,
            0.9995842576026917,
            0.006341414526104927
        ],
        "right_vector": [
            -0.9996042847633362,
            -0.028128167614340782,
            0.00022423359041567892
        ],
        "location": [
            2184.97705078125,
            2486.218505859375,
            364.98760986328125
        ],
        "rotation": [
            -0.012847896665334702,
            0.3633387088775635,
            91.61175537109375
        ],
        "velocity": [
            -0.1519630253314972,
            4.904725074768066,
            0.030030077323317528
        ],
        "speed": 4.907078644175831,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 13.384170532226562,
        "front_vehicle_info": {
            "id": 48761,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2185.025146484375,
                2499.60205078125,
                365.10772705078125
            ],
            "velocity": [
                -3.7908619560766965e-05,
                -2.104289706039708e-05,
                0.0010522438678890467
            ],
            "speed_kmh": 0.0037912923175417155,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 48771,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.777587890625,
                        "y": 2575.692138671875,
                        "z": 365.0699768066406
                    },
                    "rotation": {
                        "roll": -1.3340490490065804e-08,
                        "pitch": 0.36938345432281494,
                        "yaw": -89.93964385986328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48770,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.794189453125,
                        "y": 2560.12744140625,
                        "z": 365.1320495605469
                    },
                    "rotation": {
                        "roll": 6.67013155819518e-09,
                        "pitch": 0.15881554782390594,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48769,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.107115745544434,
                "transform": {
                    "location": {
                        "x": 2231.602294921875,
                        "y": 2524.291748046875,
                        "z": 366.38787841796875
                    },
                    "rotation": {
                        "roll": -0.0185546837747097,
                        "pitch": -1.6218829154968262,
                        "yaw": -179.5397186279297
                    }
                },
                "velocity": {
                    "x": -8.103065490722656,
                    "y": -0.06517498195171356,
                    "z": -0.2478092461824417
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48768,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.722072601318359,
                "transform": {
                    "location": {
                        "x": 2141.050537109375,
                        "y": 2527.3408203125,
                        "z": 364.7735900878906
                    },
                    "rotation": {
                        "roll": -0.000457763671875,
                        "pitch": -0.08566422760486603,
                        "yaw": 0.29749056696891785
                    }
                },
                "velocity": {
                    "x": 7.7219133377075195,
                    "y": 0.03953868895769119,
                    "z": -0.029877012595534325
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.5796709060668945,
                "transform": {
                    "location": {
                        "x": 2143.37158203125,
                        "y": 2524.51025390625,
                        "z": 364.76910400390625
                    },
                    "rotation": {
                        "roll": 0.0021992926485836506,
                        "pitch": 0.2401767522096634,
                        "yaw": -179.60369873046875
                    }
                },
                "velocity": {
                    "x": -3.5794568061828613,
                    "y": -0.036721084266901016,
                    "z": 0.013549546711146832
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0016344940522685647,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.82763671875
                    },
                    "rotation": {
                        "roll": 0.0009412574581801891,
                        "pitch": 0.21972717344760895,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": -1.60387899086345e-05,
                    "y": -9.563028288539499e-05,
                    "z": -0.0016316152177751064
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48764,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.039714813232422,
                "transform": {
                    "location": {
                        "x": 2187.97705078125,
                        "y": 2479.9482421875,
                        "z": 364.95050048828125
                    },
                    "rotation": {
                        "roll": -0.0002746694954112172,
                        "pitch": -0.4336213767528534,
                        "yaw": -89.94432830810547
                    }
                },
                "velocity": {
                    "x": 0.010419711470603943,
                    "y": -8.039478302001953,
                    "z": -0.06076877564191818
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.906128883361816,
                "transform": {
                    "location": {
                        "x": 2185.06103515625,
                        "y": 2458.280029296875,
                        "z": 364.7572326660156
                    },
                    "rotation": {
                        "roll": 0.0017412540037184954,
                        "pitch": 0.48695147037506104,
                        "yaw": 90.16849517822266
                    }
                },
                "velocity": {
                    "x": -0.012527578510344028,
                    "y": 4.905858039855957,
                    "z": 0.04998774453997612
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.7608447074890137,
                "transform": {
                    "location": {
                        "x": 2185.046142578125,
                        "y": 2470.96630859375,
                        "z": 364.8778381347656
                    },
                    "rotation": {
                        "roll": 0.0020986543968319893,
                        "pitch": 0.4034046232700348,
                        "yaw": 90.19397735595703
                    }
                },
                "velocity": {
                    "x": -0.006661559920758009,
                    "y": 2.7607312202453613,
                    "z": 0.024137524887919426
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48761,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0010531367734074593,
                "transform": {
                    "location": {
                        "x": 2185.025146484375,
                        "y": 2499.60205078125,
                        "z": 365.10772705078125
                    },
                    "rotation": {
                        "roll": 0.0023143040016293526,
                        "pitch": 0.2946475148200989,
                        "yaw": 90.4081039428711
                    }
                },
                "velocity": {
                    "x": -3.7908619560766965e-05,
                    "y": -2.104289706039708e-05,
                    "z": 0.0010522438678890467
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48760,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.1147520542144775,
                "transform": {
                    "location": {
                        "x": 2185.034912109375,
                        "y": 2509.970458984375,
                        "z": 365.1209716796875
                    },
                    "rotation": {
                        "roll": 0.002442395780235529,
                        "pitch": 0.33950820565223694,
                        "yaw": 90.5244369506836
                    }
                },
                "velocity": {
                    "x": -0.010260118171572685,
                    "y": 1.114701271057129,
                    "z": 0.0028332900255918503
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "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": -0.21116386353969574,
        "expert_target_speed": 5.360988801800401,
        "target_point": [
            29.29818538777494,
            -0.938410399369742
        ],
        "target_point_next": [
            38.47820770910022,
            7.728945019551134
        ]
    },
    "120": {
        "acceleration": [
            0.18616244196891785,
            -3.7621212005615234,
            -0.015470720827579498
        ],
        "angular_velocity": [
            -0.7743499279022217,
            -0.1170181930065155,
            -0.18426920473575592
        ],
        "forward_vector": [
            -0.028597481548786163,
            0.9995885491371155,
            0.0021985748317092657
        ],
        "right_vector": [
            -0.9995909929275513,
            -0.028597036376595497,
            -0.00023477303329855204
        ],
        "location": [
            2184.944580078125,
            2487.332275390625,
            364.9957275390625
        ],
        "rotation": [
            0.013451536186039448,
            0.12596917152404785,
            91.63874053955078
        ],
        "velocity": [
            -0.11106554418802261,
            4.017780303955078,
            0.027939775958657265
        ],
        "speed": 4.019315131456495,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 12.273970603942871,
        "front_vehicle_info": {
            "id": 48761,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2185.025390625,
                2499.60546875,
                365.1076965332031
            ],
            "velocity": [
                0.0012497418792918324,
                0.06929586827754974,
                0.0014015197521075606
            ],
            "speed_kmh": 0.249556701786288,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.9406366348266602,
                "transform": {
                    "location": {
                        "x": 2185.16748046875,
                        "y": 2443.191650390625,
                        "z": 364.6756896972656
                    },
                    "rotation": {
                        "roll": 0.00026994445943273604,
                        "pitch": 0.6729580163955688,
                        "yaw": 90.06041717529297
                    }
                },
                "velocity": {
                    "x": -6.570520781679079e-05,
                    "y": 0.022624293342232704,
                    "z": -1.9405046701431274
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48771,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.77978515625,
                        "y": 2573.849365234375,
                        "z": 365.0751037597656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3167431652545929,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48770,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.796142578125,
                        "y": 2558.31201171875,
                        "z": 365.13787841796875
                    },
                    "rotation": {
                        "roll": 6.67013155819518e-09,
                        "pitch": 0.15881554782390594,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48769,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.280552864074707,
                "transform": {
                    "location": {
                        "x": 2229.513916015625,
                        "y": 2524.2822265625,
                        "z": 366.3240051269531
                    },
                    "rotation": {
                        "roll": -0.007904053665697575,
                        "pitch": -1.7478930950164795,
                        "yaw": -179.75503540039062
                    }
                },
                "velocity": {
                    "x": -8.27645206451416,
                    "y": -0.023165255784988403,
                    "z": -0.25953754782676697
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48768,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.390562057495117,
                "transform": {
                    "location": {
                        "x": 2143.116943359375,
                        "y": 2527.35107421875,
                        "z": 364.7662353515625
                    },
                    "rotation": {
                        "roll": 0.0008061477565206587,
                        "pitch": -0.1534470170736313,
                        "yaw": 0.28411737084388733
                    }
                },
                "velocity": {
                    "x": 8.390460014343262,
                    "y": 0.025018325075507164,
                    "z": -0.03297879546880722
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.434853553771973,
                "transform": {
                    "location": {
                        "x": 2142.36865234375,
                        "y": 2524.5009765625,
                        "z": 364.7729187011719
                    },
                    "rotation": {
                        "roll": 0.003122718306258321,
                        "pitch": 0.24605071544647217,
                        "yaw": -179.52450561523438
                    }
                },
                "velocity": {
                    "x": -4.434726238250732,
                    "y": -0.030067045241594315,
                    "z": 0.015015620738267899
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0005404232651926577,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.82757568359375
                    },
                    "rotation": {
                        "roll": 0.00025484192883595824,
                        "pitch": 0.21922174096107483,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": -1.0012499842559919e-05,
                    "y": -6.902505265315995e-05,
                    "z": -0.0005359035567380488
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48764,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.039206504821777,
                "transform": {
                    "location": {
                        "x": 2187.979248046875,
                        "y": 2477.9384765625,
                        "z": 364.9351501464844
                    },
                    "rotation": {
                        "roll": 0.00047671390348114073,
                        "pitch": -0.45062169432640076,
                        "yaw": -89.90872192382812
                    }
                },
                "velocity": {
                    "x": 0.01015100721269846,
                    "y": -8.038951873779297,
                    "z": -0.06311731785535812
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.264568328857422,
                "transform": {
                    "location": {
                        "x": 2185.057861328125,
                        "y": 2459.578125,
                        "z": 364.7701721191406
                    },
                    "rotation": {
                        "roll": 0.00012134782446082681,
                        "pitch": 0.5327957272529602,
                        "yaw": 90.1520004272461
                    }
                },
                "velocity": {
                    "x": -0.011554784141480923,
                    "y": 5.2642951011657715,
                    "z": 0.052374038845300674
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.80661940574646,
                "transform": {
                    "location": {
                        "x": 2185.0439453125,
                        "y": 2471.787841796875,
                        "z": 364.8851623535156
                    },
                    "rotation": {
                        "roll": 0.0016628013690933585,
                        "pitch": 0.3830506503582001,
                        "yaw": 90.167724609375
                    }
                },
                "velocity": {
                    "x": -0.006912563927471638,
                    "y": 3.806478500366211,
                    "z": 0.03201831877231598
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48761,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.06932130455970764,
                "transform": {
                    "location": {
                        "x": 2185.025390625,
                        "y": 2499.60546875,
                        "z": 365.1076965332031
                    },
                    "rotation": {
                        "roll": 0.0014774089213460684,
                        "pitch": 0.30123865604400635,
                        "yaw": 90.42108154296875
                    }
                },
                "velocity": {
                    "x": 0.0012497418792918324,
                    "y": 0.06929586827754974,
                    "z": 0.0014015197521075606
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48760,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.4397130012512207,
                "transform": {
                    "location": {
                        "x": 2185.03125,
                        "y": 2510.40869140625,
                        "z": 365.1223449707031
                    },
                    "rotation": {
                        "roll": 0.0029827046673744917,
                        "pitch": 0.43674275279045105,
                        "yaw": 90.53570556640625
                    }
                },
                "velocity": {
                    "x": -0.020327040925621986,
                    "y": 2.4396188259124756,
                    "z": 0.006846113130450249
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "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": -0.23106712102890015,
        "expert_target_speed": 4.448610760914223,
        "target_point": [
            28.183495631167215,
            -0.9528744882980289
        ],
        "target_point_next": [
            37.36761677911356,
            7.710137604373441
        ]
    },
    "125": {
        "acceleration": [
            0.10918527841567993,
            -3.1283044815063477,
            -0.002346225082874298
        ],
        "angular_velocity": [
            -0.07686515152454376,
            0.05704856663942337,
            -1.158867359161377
        ],
        "forward_vector": [
            -0.026467250660061836,
            0.9996495246887207,
            0.000626206339802593
        ],
        "right_vector": [
            -0.9996495842933655,
            -0.026466967537999153,
            -0.00045549936476163566
        ],
        "location": [
            2184.92236328125,
            2488.22412109375,
            365.0019836425781
        ],
        "rotation": [
            0.02609819732606411,
            0.0358789823949337,
            91.51663970947266
        ],
        "velocity": [
            -0.0716441199183464,
            3.183008909225464,
            0.021183356642723083
        ],
        "speed": 3.183815100807136,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 11.437230110168457,
        "front_vehicle_info": {
            "id": 48761,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2185.025146484375,
                2499.660400390625,
                365.1078186035156
            ],
            "velocity": [
                -0.003496795427054167,
                0.521699070930481,
                0.0029191779904067516
            ],
            "speed_kmh": 1.8781882441475628,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.08982929587364197,
                "transform": {
                    "location": {
                        "x": 2185.16748046875,
                        "y": 2443.194091796875,
                        "z": 364.48175048828125
                    },
                    "rotation": {
                        "roll": -0.0007935062167234719,
                        "pitch": 0.6870691776275635,
                        "yaw": 90.06031799316406
                    }
                },
                "velocity": {
                    "x": -8.838069334160537e-05,
                    "y": -0.0010845682118088007,
                    "z": 0.08982270210981369
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48771,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.78125,
                        "y": 2572.17333984375,
                        "z": 365.0797424316406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3167431652545929,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48770,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.14076566696167,
                "transform": {
                    "location": {
                        "x": 2187.801513671875,
                        "y": 2556.783935546875,
                        "z": 365.1427001953125
                    },
                    "rotation": {
                        "roll": 0.017515743151307106,
                        "pitch": 0.3485240340232849,
                        "yaw": -89.79071044921875
                    }
                },
                "velocity": {
                    "x": 0.07995997369289398,
                    "y": -5.140066623687744,
                    "z": 0.028160475194454193
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48769,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.844240665435791,
                "transform": {
                    "location": {
                        "x": 2227.5146484375,
                        "y": 2524.276611328125,
                        "z": 366.2622985839844
                    },
                    "rotation": {
                        "roll": -0.006774901878088713,
                        "pitch": -1.8025482892990112,
                        "yaw": -179.85113525390625
                    }
                },
                "velocity": {
                    "x": -7.84047269821167,
                    "y": -0.018656818196177483,
                    "z": -0.24239465594291687
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48768,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.846991539001465,
                "transform": {
                    "location": {
                        "x": 2145.137939453125,
                        "y": 2527.3564453125,
                        "z": 364.7590026855469
                    },
                    "rotation": {
                        "roll": 0.0011646895436570048,
                        "pitch": -0.2285791039466858,
                        "yaw": 0.13475298881530762
                    }
                },
                "velocity": {
                    "x": 7.846928119659424,
                    "y": 0.011952276341617107,
                    "z": -0.029260311275720596
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.8895161151885986,
                "transform": {
                    "location": {
                        "x": 2141.276123046875,
                        "y": 2524.494384765625,
                        "z": 364.77728271484375
                    },
                    "rotation": {
                        "roll": 0.0029416787438094616,
                        "pitch": 0.21120992302894592,
                        "yaw": -179.61363220214844
                    }
                },
                "velocity": {
                    "x": -3.889444589614868,
                    "y": -0.01751939207315445,
                    "z": 0.015798959881067276
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0014582513831555843,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.82757568359375
                    },
                    "rotation": {
                        "roll": 0.00025484192883595824,
                        "pitch": 0.21922174096107483,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": 2.245381438115146e-06,
                    "y": -4.8515794333070517e-05,
                    "z": -0.001457442413084209
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48764,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.040416717529297,
                "transform": {
                    "location": {
                        "x": 2187.981689453125,
                        "y": 2475.9287109375,
                        "z": 364.91912841796875
                    },
                    "rotation": {
                        "roll": -0.00042727362597361207,
                        "pitch": -0.4524521827697754,
                        "yaw": -89.94542694091797
                    }
                },
                "velocity": {
                    "x": 0.010202460922300816,
                    "y": -8.040135383605957,
                    "z": -0.0665309801697731
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.5770282745361328,
                "transform": {
                    "location": {
                        "x": 2185.05517578125,
                        "y": 2460.50634765625,
                        "z": 364.77655029296875
                    },
                    "rotation": {
                        "roll": 0.0005468769231811166,
                        "pitch": 0.8597568273544312,
                        "yaw": 90.13665771484375
                    }
                },
                "velocity": {
                    "x": -0.003384088398888707,
                    "y": 1.5769459009170532,
                    "z": 0.01575743593275547
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.902246952056885,
                "transform": {
                    "location": {
                        "x": 2185.041748046875,
                        "y": 2472.8837890625,
                        "z": 364.8945617675781
                    },
                    "rotation": {
                        "roll": 0.0010741637088358402,
                        "pitch": 0.37579697370529175,
                        "yaw": 90.14241027832031
                    }
                },
                "velocity": {
                    "x": -0.009673688560724258,
                    "y": 4.902065753936768,
                    "z": 0.041015785187482834
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48761,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.5217189192771912,
                "transform": {
                    "location": {
                        "x": 2185.025146484375,
                        "y": 2499.660400390625,
                        "z": 365.1078186035156
                    },
                    "rotation": {
                        "roll": 0.0012250525178387761,
                        "pitch": 0.33448800444602966,
                        "yaw": 90.38001251220703
                    }
                },
                "velocity": {
                    "x": -0.003496795427054167,
                    "y": 0.521699070930481,
                    "z": 0.0029191779904067516
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48760,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.8536694049835205,
                "transform": {
                    "location": {
                        "x": 2185.024658203125,
                        "y": 2511.192138671875,
                        "z": 365.1248474121094
                    },
                    "rotation": {
                        "roll": 0.004479640629142523,
                        "pitch": 0.47965002059936523,
                        "yaw": 90.50772094726562
                    }
                },
                "velocity": {
                    "x": -0.03146478533744812,
                    "y": 3.853524684906006,
                    "z": 0.011179198510944843
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "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": -0.2575398087501526,
        "expert_target_speed": 3.5947168989283775,
        "target_point": [
            27.293340272643047,
            -0.8914367999517718
        ],
        "target_point_next": [
            36.45898604074573,
            7.791120279134368
        ]
    },
    "130": {
        "acceleration": [
            0.07963486015796661,
            -2.6526975631713867,
            -0.012444108724594116
        ],
        "angular_velocity": [
            0.1208343356847763,
            -0.0015951459063217044,
            0.3445081114768982
        ],
        "forward_vector": [
            -0.02429976873099804,
            0.9997044205665588,
            0.000791311205830425
        ],
        "right_vector": [
            -0.9997046589851379,
            -0.024299457669258118,
            -0.0004008559917565435
        ],
        "location": [
            2184.90771484375,
            2488.92529296875,
            365.0065002441406
        ],
        "rotation": [
            0.02296736277639866,
            0.045338794589042664,
            91.39241027832031
        ],
        "velocity": [
            -0.046424154192209244,
            2.4725091457366943,
            0.016635455191135406
        ],
        "speed": 2.472944940317932,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 10.97887897491455,
        "front_vehicle_info": {
            "id": 48761,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2185.0244140625,
                2499.903076171875,
                365.1086730957031
            ],
            "velocity": [
                -0.004512697458267212,
                1.3176825046539307,
                0.005734195467084646
            ],
            "speed_kmh": 4.743729751308722,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.3453036844730377,
                "transform": {
                    "location": {
                        "x": 2185.16748046875,
                        "y": 2443.199951171875,
                        "z": 364.5665588378906
                    },
                    "rotation": {
                        "roll": -0.0006103332852944732,
                        "pitch": 0.6974852085113525,
                        "yaw": 90.06249237060547
                    }
                },
                "velocity": {
                    "x": -0.0014190360670909286,
                    "y": 0.07431422919034958,
                    "z": 0.33720916509628296
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48771,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.78271484375,
                        "y": 2570.880126953125,
                        "z": 365.08404541015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3167431652545929,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48770,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.137993335723877,
                "transform": {
                    "location": {
                        "x": 2187.818359375,
                        "y": 2555.50830078125,
                        "z": 365.1490173339844
                    },
                    "rotation": {
                        "roll": -0.0016479517798870802,
                        "pitch": 0.18606117367744446,
                        "yaw": -89.47095489501953
                    }
                },
                "velocity": {
                    "x": 0.05189317464828491,
                    "y": -5.1377058029174805,
                    "z": 0.016139507293701172
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48769,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.175182342529297,
                "transform": {
                    "location": {
                        "x": 2225.513671875,
                        "y": 2524.27294921875,
                        "z": 366.2002258300781
                    },
                    "rotation": {
                        "roll": -0.0032348628155887127,
                        "pitch": -1.741356611251831,
                        "yaw": -179.92410278320312
                    }
                },
                "velocity": {
                    "x": -8.171358108520508,
                    "y": -0.0014222065219655633,
                    "z": -0.2500329613685608
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48768,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.111312866210938,
                "transform": {
                    "location": {
                        "x": 2147.121826171875,
                        "y": 2527.359619140625,
                        "z": 364.7513122558594
                    },
                    "rotation": {
                        "roll": -0.000579833984375,
                        "pitch": -0.21051324903964996,
                        "yaw": 0.0828578844666481
                    }
                },
                "velocity": {
                    "x": 8.111250877380371,
                    "y": 0.0102833928540349,
                    "z": -0.030110806226730347
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.556689500808716,
                "transform": {
                    "location": {
                        "x": 2140.48046875,
                        "y": 2524.490478515625,
                        "z": 364.78076171875
                    },
                    "rotation": {
                        "roll": 0.0032349443063139915,
                        "pitch": 0.17653988301753998,
                        "yaw": -179.67311096191406
                    }
                },
                "velocity": {
                    "x": -2.556652307510376,
                    "y": -0.010535713285207748,
                    "z": 0.008922109380364418
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00133627955801785,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.82757568359375
                    },
                    "rotation": {
                        "roll": 0.00025484192883595824,
                        "pitch": 0.21922174096107483,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": -2.0084715288248844e-05,
                    "y": 2.0506317014223896e-05,
                    "z": -0.0013359712902456522
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48764,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.040236473083496,
                "transform": {
                    "location": {
                        "x": 2187.9833984375,
                        "y": 2473.919189453125,
                        "z": 364.9025573730469
                    },
                    "rotation": {
                        "roll": 5.46968039998319e-05,
                        "pitch": -0.4817742109298706,
                        "yaw": -89.90703582763672
                    }
                },
                "velocity": {
                    "x": 0.012120707891881466,
                    "y": -8.03994083404541,
                    "z": -0.06795037537813187
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.9699233174324036,
                "transform": {
                    "location": {
                        "x": 2185.0546875,
                        "y": 2460.656005859375,
                        "z": 364.7794494628906
                    },
                    "rotation": {
                        "roll": 0.0011499568354338408,
                        "pitch": 0.6921781897544861,
                        "yaw": 90.08979034423828
                    }
                },
                "velocity": {
                    "x": -0.0013412580592557788,
                    "y": 0.9698740243911743,
                    "z": 0.009684896096587181
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.485459804534912,
                "transform": {
                    "location": {
                        "x": 2185.03955078125,
                        "y": 2474.19091796875,
                        "z": 364.90545654296875
                    },
                    "rotation": {
                        "roll": 0.00042488420149311423,
                        "pitch": 0.4265316426753998,
                        "yaw": 90.10589599609375
                    }
                },
                "velocity": {
                    "x": -0.009897883981466293,
                    "y": 5.485269069671631,
                    "z": 0.04466541111469269
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48761,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.3177027702331543,
                "transform": {
                    "location": {
                        "x": 2185.0244140625,
                        "y": 2499.903076171875,
                        "z": 365.1086730957031
                    },
                    "rotation": {
                        "roll": 0.0015430280473083258,
                        "pitch": 0.3710978031158447,
                        "yaw": 90.3600082397461
                    }
                },
                "velocity": {
                    "x": -0.004512697458267212,
                    "y": 1.3176825046539307,
                    "z": 0.005734195467084646
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48760,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.34224009513855,
                "transform": {
                    "location": {
                        "x": 2184.98095703125,
                        "y": 2512.119384765625,
                        "z": 365.1276550292969
                    },
                    "rotation": {
                        "roll": -0.0548705980181694,
                        "pitch": 0.18811023235321045,
                        "yaw": 91.6646957397461
                    }
                },
                "velocity": {
                    "x": -0.18258559703826904,
                    "y": 3.3372294902801514,
                    "z": 0.011466741561889648
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "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": -0.2635667026042938,
        "expert_target_speed": 2.9085234174246994,
        "target_point": [
            26.5938914949572,
            -0.8297548023262656
        ],
        "target_point_next": [
            35.74065512793643,
            7.872691682446627
        ]
    },
    "135": {
        "acceleration": [
            0.0341816246509552,
            -1.1640381813049316,
            0.0034788064658641815
        ],
        "angular_velocity": [
            0.4504409730434418,
            0.06193702667951584,
            -1.4112701416015625
        ],
        "forward_vector": [
            -0.02211974933743477,
            0.9997535943984985,
            0.0018607366364449263
        ],
        "right_vector": [
            -0.9997552633285522,
            -0.02211926504969597,
            -0.0002803887764457613
        ],
        "location": [
            2184.8974609375,
            2489.470947265625,
            365.0097961425781
        ],
        "rotation": [
            0.016065122559666634,
            0.10661241412162781,
            91.26747131347656
        ],
        "velocity": [
            -0.03313158079981804,
            1.9844263792037964,
            0.013580331578850746
        ],
        "speed": 1.9847029390128348,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 10.864956855773926,
        "front_vehicle_info": {
            "id": 48761,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2185.022216796875,
                2500.334716796875,
                365.11090087890625
            ],
            "velocity": [
                -0.007857485674321651,
                2.1362571716308594,
                0.009869079105556011
            ],
            "speed_kmh": 7.690659906291228,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.8358849287033081,
                "transform": {
                    "location": {
                        "x": 2185.166259765625,
                        "y": 2443.325439453125,
                        "z": 364.6051025390625
                    },
                    "rotation": {
                        "roll": -0.005615255329757929,
                        "pitch": 0.8374767899513245,
                        "yaw": 90.06352233886719
                    }
                },
                "velocity": {
                    "x": -0.010031756944954395,
                    "y": 0.8356846570968628,
                    "z": 0.015303554013371468
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48771,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.782958984375,
                        "y": 2569.6064453125,
                        "z": 365.09039306640625
                    },
                    "rotation": {
                        "roll": 1.334035371058917e-08,
                        "pitch": 0.26409608125686646,
                        "yaw": -89.93962860107422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48770,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.030523777008057,
                "transform": {
                    "location": {
                        "x": 2187.830322265625,
                        "y": 2554.238037109375,
                        "z": 365.1528015136719
                    },
                    "rotation": {
                        "roll": -0.001098636188544333,
                        "pitch": 0.13428151607513428,
                        "yaw": -89.45858764648438
                    }
                },
                "velocity": {
                    "x": 0.04764940217137337,
                    "y": -5.030282020568848,
                    "z": 0.012671642005443573
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48769,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.854243278503418,
                "transform": {
                    "location": {
                        "x": 2223.49365234375,
                        "y": 2524.272705078125,
                        "z": 366.13873291015625
                    },
                    "rotation": {
                        "roll": -0.0023803715594112873,
                        "pitch": -1.7651598453521729,
                        "yaw": -179.99871826171875
                    }
                },
                "velocity": {
                    "x": -7.8506011962890625,
                    "y": 0.0030902402941137552,
                    "z": -0.23913522064685822
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48768,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.929363250732422,
                "transform": {
                    "location": {
                        "x": 2149.147216796875,
                        "y": 2527.361083984375,
                        "z": 364.74371337890625
                    },
                    "rotation": {
                        "roll": 0.001378335407935083,
                        "pitch": -0.22222702205181122,
                        "yaw": 0.02783941850066185
                    }
                },
                "velocity": {
                    "x": 7.929306983947754,
                    "y": -0.0030993588734418154,
                    "z": -0.029699325561523438
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0005162123125046492,
                "transform": {
                    "location": {
                        "x": 2140.19140625,
                        "y": 2524.48779296875,
                        "z": 364.7822570800781
                    },
                    "rotation": {
                        "roll": 0.0010987472487613559,
                        "pitch": 0.13047710061073303,
                        "yaw": -179.82504272460938
                    }
                },
                "velocity": {
                    "x": 5.9976649936288595e-05,
                    "y": -5.87312679272145e-05,
                    "z": 0.0005093413055874407
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.993045387091115e-05,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0005614832625724375,
                        "pitch": 0.2194403111934662,
                        "yaw": 179.8740997314453
                    }
                },
                "velocity": {
                    "x": 8.077248821791727e-06,
                    "y": -3.638256748672575e-05,
                    "z": -9.272088209399953e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48764,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.03945255279541,
                "transform": {
                    "location": {
                        "x": 2187.98583984375,
                        "y": 2471.909423828125,
                        "z": 364.885498046875
                    },
                    "rotation": {
                        "roll": -0.0005798668717034161,
                        "pitch": -0.4898679852485657,
                        "yaw": -89.94430541992188
                    }
                },
                "velocity": {
                    "x": 0.008072777651250362,
                    "y": -8.039155006408691,
                    "z": -0.06874305009841919
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9673038721084595,
                "transform": {
                    "location": {
                        "x": 2185.054931640625,
                        "y": 2461.03271484375,
                        "z": 364.7848815917969
                    },
                    "rotation": {
                        "roll": 0.0013318019919097424,
                        "pitch": 0.48922592401504517,
                        "yaw": 90.11550903320312
                    }
                },
                "velocity": {
                    "x": -0.003770451759919524,
                    "y": 1.9672154188156128,
                    "z": 0.018261585384607315
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.721622467041016,
                "transform": {
                    "location": {
                        "x": 2185.037109375,
                        "y": 2475.615966796875,
                        "z": 364.9168701171875
                    },
                    "rotation": {
                        "roll": 0.00024283853417728096,
                        "pitch": 0.42368343472480774,
                        "yaw": 90.05636596679688
                    }
                },
                "velocity": {
                    "x": -0.010285590775310993,
                    "y": 5.721432209014893,
                    "z": 0.04552736133337021
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48761,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.136294364929199,
                "transform": {
                    "location": {
                        "x": 2185.022216796875,
                        "y": 2500.334716796875,
                        "z": 365.11090087890625
                    },
                    "rotation": {
                        "roll": 0.0012283537071198225,
                        "pitch": 0.3798336386680603,
                        "yaw": 90.33723449707031
                    }
                },
                "velocity": {
                    "x": -0.007857485674321651,
                    "y": 2.1362571716308594,
                    "z": 0.009869079105556011
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48760,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.4030873775482178,
                "transform": {
                    "location": {
                        "x": 2184.934814453125,
                        "y": 2512.927001953125,
                        "z": 365.13031005859375
                    },
                    "rotation": {
                        "roll": -0.01708984188735485,
                        "pitch": 0.18409407138824463,
                        "yaw": 92.4035415649414
                    }
                },
                "velocity": {
                    "x": -0.20360244810581207,
                    "y": 3.3969759941101074,
                    "z": 0.010186605155467987
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "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": -0.26412850618362427,
        "expert_target_speed": 2.477561626629862,
        "target_point": [
            26.049887799456176,
            -0.7700203770544025
        ],
        "target_point_next": [
            35.17767830754599,
            7.952324503673082
        ]
    },
    "140": {
        "acceleration": [
            0.016424544155597687,
            -0.07531404495239258,
            -0.0048147328197956085
        ],
        "angular_velocity": [
            0.5159633159637451,
            0.013230576179921627,
            0.586936354637146
        ],
        "forward_vector": [
            -0.020528165623545647,
            0.9997804164886475,
            0.004212008789181709
        ],
        "right_vector": [
            -0.999789297580719,
            -0.020527394488453865,
            -0.00022639053349848837
        ],
        "location": [
            2184.889404296875,
            2489.95068359375,
            365.0123596191406
        ],
        "rotation": [
            0.012971336953341961,
            0.2413310557603836,
            91.17626953125
        ],
        "velocity": [
            -0.027893168851733208,
            1.8844125270843506,
            0.013538302853703499
        ],
        "speed": 1.8846189538209095,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 10.8926362991333,
        "front_vehicle_info": {
            "id": 48761,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2185.021240234375,
                2500.842041015625,
                365.1147155761719
            ],
            "velocity": [
                0.0044654905796051025,
                0.6994360089302063,
                0.0032021235674619675
            ],
            "speed_kmh": 2.518047335789017,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.5349184274673462,
                "transform": {
                    "location": {
                        "x": 2185.1640625,
                        "y": 2443.6015625,
                        "z": 364.59619140625
                    },
                    "rotation": {
                        "roll": -0.005004889331758022,
                        "pitch": 0.848425567150116,
                        "yaw": 90.18293762207031
                    }
                },
                "velocity": {
                    "x": -0.018298707902431488,
                    "y": 1.5343116521835327,
                    "z": -0.039084866642951965
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48771,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.78466796875,
                        "y": 2568.0478515625,
                        "z": 365.0982666015625
                    },
                    "rotation": {
                        "roll": 1.334035371058917e-08,
                        "pitch": 0.26409608125686646,
                        "yaw": -89.93962860107422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48770,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.01954460144043,
                "transform": {
                    "location": {
                        "x": 2187.841796875,
                        "y": 2552.97509765625,
                        "z": 365.1556091308594
                    },
                    "rotation": {
                        "roll": 0.0012502482859417796,
                        "pitch": 0.13692478835582733,
                        "yaw": -89.45498657226562
                    }
                },
                "velocity": {
                    "x": 0.047925252467393875,
                    "y": -5.0192975997924805,
                    "z": 0.013509111478924751
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48769,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.367302417755127,
                "transform": {
                    "location": {
                        "x": 2221.599853515625,
                        "y": 2524.2734375,
                        "z": 366.0809631347656
                    },
                    "rotation": {
                        "roll": -0.001922607421875,
                        "pitch": -1.7861558198928833,
                        "yaw": 179.97763061523438
                    }
                },
                "velocity": {
                    "x": -7.363865375518799,
                    "y": 0.0029162492137402296,
                    "z": -0.22500133514404297
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48768,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.394284725189209,
                "transform": {
                    "location": {
                        "x": 2151.056640625,
                        "y": 2527.360595703125,
                        "z": 364.73681640625
                    },
                    "rotation": {
                        "roll": 0.0015958116855472326,
                        "pitch": -0.24316838383674622,
                        "yaw": -0.02987670712172985
                    }
                },
                "velocity": {
                    "x": 7.394254207611084,
                    "y": -0.005918805953115225,
                    "z": -0.02038472518324852
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0004913253360427916,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7816467285156
                    },
                    "rotation": {
                        "roll": 0.0018466927576810122,
                        "pitch": 0.2003362625837326,
                        "yaw": -179.82504272460938
                    }
                },
                "velocity": {
                    "x": 7.321417069761083e-05,
                    "y": -0.00010993943578796461,
                    "z": 0.00047323733451776206
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0007805939530953765,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0005614832625724375,
                        "pitch": 0.2194403111934662,
                        "yaw": 179.8740997314453
                    }
                },
                "velocity": {
                    "x": -3.0643976060673594e-05,
                    "y": 2.7734226023312658e-05,
                    "z": -0.0007794990087859333
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48764,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.040361404418945,
                "transform": {
                    "location": {
                        "x": 2187.98779296875,
                        "y": 2469.89990234375,
                        "z": 364.8679504394531
                    },
                    "rotation": {
                        "roll": 0.0002753792214207351,
                        "pitch": -0.5018002986907959,
                        "yaw": -89.90728759765625
                    }
                },
                "velocity": {
                    "x": 0.01056850515305996,
                    "y": -8.040030479431152,
                    "z": -0.07215990871191025
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.8158376216888428,
                "transform": {
                    "location": {
                        "x": 2185.053466796875,
                        "y": 2461.633544921875,
                        "z": 364.7908935546875
                    },
                    "rotation": {
                        "roll": -6.104692874941975e-05,
                        "pitch": 0.47667887806892395,
                        "yaw": 90.10828399658203
                    }
                },
                "velocity": {
                    "x": -0.005485998932272196,
                    "y": 2.8156981468200684,
                    "z": 0.027486123144626617
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.12738561630249,
                "transform": {
                    "location": {
                        "x": 2185.03466796875,
                        "y": 2477.299072265625,
                        "z": 364.93096923828125
                    },
                    "rotation": {
                        "roll": -0.0008239590097218752,
                        "pitch": 0.33558768033981323,
                        "yaw": 90.06129455566406
                    }
                },
                "velocity": {
                    "x": -0.00798492506146431,
                    "y": 7.127157211303711,
                    "z": 0.05646497756242752
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48761,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.699457585811615,
                "transform": {
                    "location": {
                        "x": 2185.021240234375,
                        "y": 2500.842041015625,
                        "z": 365.1147155761719
                    },
                    "rotation": {
                        "roll": 0.00116103480104357,
                        "pitch": 0.2298426777124405,
                        "yaw": 90.41267395019531
                    }
                },
                "velocity": {
                    "x": 0.0044654905796051025,
                    "y": 0.6994360089302063,
                    "z": 0.0032021235674619675
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48760,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.0145957469940186,
                "transform": {
                    "location": {
                        "x": 2184.884521484375,
                        "y": 2513.738525390625,
                        "z": 365.1328430175781
                    },
                    "rotation": {
                        "roll": -0.001525877509266138,
                        "pitch": 0.13067516684532166,
                        "yaw": 92.93235778808594
                    }
                },
                "velocity": {
                    "x": -0.1921081840991974,
                    "y": 3.008453369140625,
                    "z": 0.009541139006614685
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "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": -0.2696918547153473,
        "expert_target_speed": 2.354861190946682,
        "target_point": [
            25.5712810191702,
            -0.7267200921646793
        ],
        "target_point_next": [
            34.685162186355,
            8.01015748786136
        ]
    },
    "145": {
        "acceleration": [
            -0.01437503844499588,
            1.7859458923339844,
            0.011828616261482239
        ],
        "angular_velocity": [
            0.7054994106292725,
            0.012884257361292839,
            -1.2783303260803223
        ],
        "forward_vector": [
            -0.01867661438882351,
            0.9998036026954651,
            0.006628106813877821
        ],
        "right_vector": [
            -0.9998255968093872,
            -0.01867561601102352,
            -0.0002126514445990324
        ],
        "location": [
            2184.881103515625,
            2490.441650390625,
            365.01507568359375
        ],
        "rotation": [
            0.012184297665953636,
            0.3797653317451477,
            91.07017517089844
        ],
        "velocity": [
            -0.028806211426854134,
            2.1147232055664062,
            0.01401833537966013
        ],
        "speed": 2.114919391839279,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 10.547292709350586,
        "front_vehicle_info": {
            "id": 48761,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2185.0205078125,
                2500.987548828125,
                365.114990234375
            ],
            "velocity": [
                -0.003806851804256439,
                1.154798984527588,
                0.00609622010961175
            ],
            "speed_kmh": 4.1573568604214834,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 48774,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.104562520980835,
                "transform": {
                    "location": {
                        "x": 2236.936279296875,
                        "y": 2524.330322265625,
                        "z": 366.6495361328125
                    },
                    "rotation": {
                        "roll": 0.0005352600128389895,
                        "pitch": -1.7272932529449463,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": 0.060973405838012695,
                    "y": -0.00038689299253746867,
                    "z": -2.1036789417266846
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48773,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.450000286102295,
                "transform": {
                    "location": {
                        "x": 2135.974853515625,
                        "y": 2527.302490234375,
                        "z": 364.8865051269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2181084156036377,
                        "yaw": -0.125946044921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -2.450000286102295
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.981863021850586,
                "transform": {
                    "location": {
                        "x": 2185.157958984375,
                        "y": 2444.155517578125,
                        "z": 364.5943908691406
                    },
                    "rotation": {
                        "roll": -0.005859388969838619,
                        "pitch": 0.9746747612953186,
                        "yaw": 90.29239654541016
                    }
                },
                "velocity": {
                    "x": -0.037857070565223694,
                    "y": 2.981464147567749,
                    "z": 0.03073868714272976
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48771,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.786376953125,
                        "y": 2566.895263671875,
                        "z": 365.1041259765625
                    },
                    "rotation": {
                        "roll": 1.334035371058917e-08,
                        "pitch": 0.26409608125686646,
                        "yaw": -89.93962860107422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48770,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.388522624969482,
                "transform": {
                    "location": {
                        "x": 2187.853759765625,
                        "y": 2551.678955078125,
                        "z": 365.15863037109375
                    },
                    "rotation": {
                        "roll": 0.0006820626440458,
                        "pitch": 0.0943385660648346,
                        "yaw": -89.45262908935547
                    }
                },
                "velocity": {
                    "x": 0.05139119550585747,
                    "y": -5.388268947601318,
                    "z": 0.009537724778056145
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48769,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.058452129364014,
                "transform": {
                    "location": {
                        "x": 2219.802490234375,
                        "y": 2524.275146484375,
                        "z": 366.0271301269531
                    },
                    "rotation": {
                        "roll": 0.00042933979420922697,
                        "pitch": -1.7258248329162598,
                        "yaw": 179.9405517578125
                    }
                },
                "velocity": {
                    "x": -7.055500507354736,
                    "y": 0.009905395098030567,
                    "z": -0.2038644403219223
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48768,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.070518493652344,
                "transform": {
                    "location": {
                        "x": 2152.857421875,
                        "y": 2527.359619140625,
                        "z": 364.7328186035156
                    },
                    "rotation": {
                        "roll": -0.0003967284574173391,
                        "pitch": -0.11096324771642685,
                        "yaw": -0.0421142540872097
                    }
                },
                "velocity": {
                    "x": 7.0705084800720215,
                    "y": -0.006423681043088436,
                    "z": -0.010184812359511852
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.0299121388234198e-05,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.002461655531078577,
                        "pitch": 0.21518509089946747,
                        "yaw": -179.82501220703125
                    }
                },
                "velocity": {
                    "x": 8.021518624445889e-06,
                    "y": -3.920741619367618e-06,
                    "z": -1.8230122805107385e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0005255790892988443,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0005614832625724375,
                        "pitch": 0.2194403111934662,
                        "yaw": 179.8740997314453
                    }
                },
                "velocity": {
                    "x": 1.951608828676399e-05,
                    "y": 1.1768695003411267e-05,
                    "z": -0.0005250847898423672
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48764,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.041550636291504,
                "transform": {
                    "location": {
                        "x": 2187.989990234375,
                        "y": 2467.889404296875,
                        "z": 364.8499450683594
                    },
                    "rotation": {
                        "roll": 0.00037821114528924227,
                        "pitch": -0.5288956761360168,
                        "yaw": -89.9438705444336
                    }
                },
                "velocity": {
                    "x": 0.010569772683084011,
                    "y": -8.041213035583496,
                    "z": -0.07292980700731277
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.8788774013519287,
                "transform": {
                    "location": {
                        "x": 2185.051513671875,
                        "y": 2462.471435546875,
                        "z": 364.79937744140625
                    },
                    "rotation": {
                        "roll": 0.000722582801245153,
                        "pitch": 0.46286824345588684,
                        "yaw": 90.1069107055664
                    }
                },
                "velocity": {
                    "x": -0.007369866594672203,
                    "y": 3.8786823749542236,
                    "z": 0.038192689418792725
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.992351531982422,
                "transform": {
                    "location": {
                        "x": 2185.03271484375,
                        "y": 2478.950927734375,
                        "z": 364.94244384765625
                    },
                    "rotation": {
                        "roll": -0.0003051830281037837,
                        "pitch": 0.5146957039833069,
                        "yaw": 90.06446838378906
                    }
                },
                "velocity": {
                    "x": -0.008340875618159771,
                    "y": 5.992160320281982,
                    "z": 0.04717838019132614
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48761,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.1548213958740234,
                "transform": {
                    "location": {
                        "x": 2185.0205078125,
                        "y": 2500.987548828125,
                        "z": 365.114990234375
                    },
                    "rotation": {
                        "roll": 0.001873323111794889,
                        "pitch": 0.2880905270576477,
                        "yaw": 90.38490295410156
                    }
                },
                "velocity": {
                    "x": -0.003806851804256439,
                    "y": 1.154798984527588,
                    "z": 0.00609622010961175
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48760,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.0718445777893066,
                "transform": {
                    "location": {
                        "x": 2184.835205078125,
                        "y": 2514.49560546875,
                        "z": 365.1350402832031
                    },
                    "rotation": {
                        "roll": 0.0023002964444458485,
                        "pitch": 0.17098011076450348,
                        "yaw": 93.27288818359375
                    }
                },
                "velocity": {
                    "x": -0.20309476554393768,
                    "y": 3.065110445022583,
                    "z": 0.00891283992677927
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "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": -0.27339407801628113,
        "expert_target_speed": 2.4829402748840272,
        "target_point": [
            25.081546720541947,
            -0.6784962048246423
        ],
        "target_point_next": [
            34.17923334593396,
            8.075243444267668
        ]
    },
    "150": {
        "acceleration": [
            -0.01214589923620224,
            1.7592477798461914,
            0.011738594621419907
        ],
        "angular_velocity": [
            0.2871684730052948,
            0.007568966597318649,
            0.29933837056159973
        ],
        "forward_vector": [
            -0.01681026816368103,
            0.999816358089447,
            0.009199966676533222
        ],
        "right_vector": [
            -0.9998586773872375,
            -0.016808489337563515,
            -0.00027057062834501266
        ],
        "location": [
            2184.872802734375,
            2491.04296875,
            365.018310546875
        ],
        "rotation": [
            0.015503210946917534,
            0.527126669883728,
            90.96324157714844
        ],
        "velocity": [
            -0.03153924643993378,
            2.6482882499694824,
            0.01505912747234106
        ],
        "speed": 2.648476048408296,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 10.331085205078125,
        "front_vehicle_info": {
            "id": 48761,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2185.018798828125,
                2501.37255859375,
                365.1162414550781
            ],
            "velocity": [
                -0.00473258038982749,
                1.9494798183441162,
                0.010693435557186604
            ],
            "speed_kmh": 7.018253606474885,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 48774,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.14010584354400635,
                "transform": {
                    "location": {
                        "x": 2236.93896484375,
                        "y": 2524.330322265625,
                        "z": 366.56683349609375
                    },
                    "rotation": {
                        "roll": -0.0001220701597048901,
                        "pitch": -1.7643401622772217,
                        "yaw": 179.8738250732422
                    }
                },
                "velocity": {
                    "x": -0.0042990585789084435,
                    "y": 0.0002531999780330807,
                    "z": 0.14003963768482208
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48773,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.15511031448841095,
                "transform": {
                    "location": {
                        "x": 2135.974365234375,
                        "y": 2527.302490234375,
                        "z": 364.768310546875
                    },
                    "rotation": {
                        "roll": 0.000647864188067615,
                        "pitch": -0.2192695438861847,
                        "yaw": -0.1259155124425888
                    }
                },
                "velocity": {
                    "x": 0.0006052721291780472,
                    "y": -0.0002919072285294533,
                    "z": 0.15510885417461395
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.9118828773498535,
                "transform": {
                    "location": {
                        "x": 2185.146728515625,
                        "y": 2445.139892578125,
                        "z": 364.6063537597656
                    },
                    "rotation": {
                        "roll": -0.006347751710563898,
                        "pitch": 1.1258405447006226,
                        "yaw": 90.48080444335938
                    }
                },
                "velocity": {
                    "x": -0.06567057967185974,
                    "y": 4.91098165512085,
                    "z": 0.06736942380666733
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48771,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.78857421875,
                        "y": 2565.294921875,
                        "z": 365.111328125
                    },
                    "rotation": {
                        "roll": -6.6701515422096236e-09,
                        "pitch": 0.21146264672279358,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48770,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.612605094909668,
                "transform": {
                    "location": {
                        "x": 2187.866455078125,
                        "y": 2550.27783203125,
                        "z": 365.1611633300781
                    },
                    "rotation": {
                        "roll": -0.005187991540879011,
                        "pitch": 0.06173807755112648,
                        "yaw": -89.54117584228516
                    }
                },
                "velocity": {
                    "x": 0.032363343983888626,
                    "y": -5.612504005432129,
                    "z": 0.00951443612575531
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48769,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.819949150085449,
                "transform": {
                    "location": {
                        "x": 2218.065185546875,
                        "y": 2524.277099609375,
                        "z": 365.9761962890625
                    },
                    "rotation": {
                        "roll": -0.0015869141789153218,
                        "pitch": -1.6566418409347534,
                        "yaw": 179.92803955078125
                    }
                },
                "velocity": {
                    "x": -6.8171539306640625,
                    "y": 0.008713975548744202,
                    "z": -0.19504281878471375
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48768,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.863481521606445,
                "transform": {
                    "location": {
                        "x": 2154.603271484375,
                        "y": 2527.357177734375,
                        "z": 364.73052978515625
                    },
                    "rotation": {
                        "roll": 0.00047890059067867696,
                        "pitch": -0.058138567954301834,
                        "yaw": -0.0739746168255806
                    }
                },
                "velocity": {
                    "x": 6.863471508026123,
                    "y": -0.0104166055098176,
                    "z": -0.005596274975687265
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.000381515477783978,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.002461655531078577,
                        "pitch": 0.21518509089946747,
                        "yaw": -179.82501220703125
                    }
                },
                "velocity": {
                    "x": 7.363669283222407e-06,
                    "y": -1.157790029537864e-05,
                    "z": -0.0003812686773017049
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00128436298109591,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0005614832625724375,
                        "pitch": 0.2194403111934662,
                        "yaw": 179.8740997314453
                    }
                },
                "velocity": {
                    "x": 2.8517320970422588e-05,
                    "y": -1.2631471690838225e-05,
                    "z": -0.001283984282054007
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48764,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.039782524108887,
                "transform": {
                    "location": {
                        "x": 2187.991943359375,
                        "y": 2465.879638671875,
                        "z": 364.83135986328125
                    },
                    "rotation": {
                        "roll": -9.154441795544699e-05,
                        "pitch": -0.5274339914321899,
                        "yaw": -89.90593719482422
                    }
                },
                "velocity": {
                    "x": 0.012340899556875229,
                    "y": -8.039430618286133,
                    "z": -0.07416360080242157
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.968307018280029,
                "transform": {
                    "location": {
                        "x": 2185.049560546875,
                        "y": 2463.584716796875,
                        "z": 364.810302734375
                    },
                    "rotation": {
                        "roll": -6.1020014982204884e-05,
                        "pitch": 0.44980892539024353,
                        "yaw": 90.10302734375
                    }
                },
                "velocity": {
                    "x": -0.0071486360393464565,
                    "y": 4.968084812164307,
                    "z": 0.046409253031015396
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.5575830936431885,
                "transform": {
                    "location": {
                        "x": 2185.03125,
                        "y": 2480.134765625,
                        "z": 364.94940185546875
                    },
                    "rotation": {
                        "roll": 0.00032080538221634924,
                        "pitch": 0.7379745841026306,
                        "yaw": 90.06269836425781
                    }
                },
                "velocity": {
                    "x": -0.0029065513517707586,
                    "y": 2.5575218200683594,
                    "z": 0.01746045984327793
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48761,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.9495148658752441,
                "transform": {
                    "location": {
                        "x": 2185.018798828125,
                        "y": 2501.37255859375,
                        "z": 365.1162414550781
                    },
                    "rotation": {
                        "roll": 0.001974965212866664,
                        "pitch": 0.3650735914707184,
                        "yaw": 90.3541259765625
                    }
                },
                "velocity": {
                    "x": -0.00473258038982749,
                    "y": 1.9494798183441162,
                    "z": 0.010693435557186604
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48760,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.790250301361084,
                "transform": {
                    "location": {
                        "x": 2184.787109375,
                        "y": 2515.21240234375,
                        "z": 365.1369934082031
                    },
                    "rotation": {
                        "roll": -0.00030517796403728426,
                        "pitch": 0.11390022933483124,
                        "yaw": 93.52083587646484
                    }
                },
                "velocity": {
                    "x": -0.18966712057590485,
                    "y": 2.7837886810302734,
                    "z": 0.006655836012214422
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "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": -0.2777523100376129,
        "expert_target_speed": 2.905963432886406,
        "target_point": [
            24.481392957194526,
            -0.6300102067293742
        ],
        "target_point_next": [
            33.56277438251977,
            8.140643770351533
        ]
    },
    "155": {
        "acceleration": [
            0.01173514872789383,
            -0.35413265228271484,
            0.01237962394952774
        ],
        "angular_velocity": [
            -0.5055211186408997,
            0.03225477412343025,
            -1.2251461744308472
        ],
        "forward_vector": [
            -0.014732706360518932,
            0.999859094619751,
            0.00804189033806324
        ],
        "right_vector": [
            -0.999891459941864,
            -0.014731515198946,
            -0.00020744417270179838
        ],
        "location": [
            2184.86474609375,
            2491.7197265625,
            365.0226745605469
        ],
        "rotation": [
            0.011886060237884521,
            0.4607713520526886,
            90.84417724609375
        ],
        "velocity": [
            -0.029191607609391212,
            2.694671154022217,
            0.017850426957011223
        ],
        "speed": 2.6948292669989775,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 10.202021598815918,
        "front_vehicle_info": {
            "id": 48761,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2185.01611328125,
                2501.920166015625,
                365.11944580078125
            ],
            "velocity": [
                -0.004297978710383177,
                1.812148094177246,
                0.00847692508250475
            ],
            "speed_kmh": 6.523822863749948,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 48774,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.9552010297775269,
                "transform": {
                    "location": {
                        "x": 2236.870849609375,
                        "y": 2524.32958984375,
                        "z": 366.587890625
                    },
                    "rotation": {
                        "roll": -0.005065917503088713,
                        "pitch": -1.68359375,
                        "yaw": 179.9082794189453
                    }
                },
                "velocity": {
                    "x": -0.9548928141593933,
                    "y": -0.015828421339392662,
                    "z": 0.018390310928225517
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48773,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.104549765586853,
                "transform": {
                    "location": {
                        "x": 2136.061279296875,
                        "y": 2527.30322265625,
                        "z": 364.7957763671875
                    },
                    "rotation": {
                        "roll": -0.005584716331213713,
                        "pitch": -0.07955803722143173,
                        "yaw": -0.0457458533346653
                    }
                },
                "velocity": {
                    "x": 1.1032878160476685,
                    "y": 0.0100012868642807,
                    "z": 0.0518282987177372
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.950810432434082,
                "transform": {
                    "location": {
                        "x": 2185.13037109375,
                        "y": 2446.48828125,
                        "z": 364.6251525878906
                    },
                    "rotation": {
                        "roll": 0.010051900520920753,
                        "pitch": 0.9507622718811035,
                        "yaw": 90.63406372070312
                    }
                },
                "velocity": {
                    "x": -0.06063405051827431,
                    "y": 5.95009183883667,
                    "z": 0.06986186653375626
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48771,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.7900390625,
                        "y": 2564.1435546875,
                        "z": 365.1161193847656
                    },
                    "rotation": {
                        "roll": -6.6701515422096236e-09,
                        "pitch": 0.21146264672279358,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48770,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.960796356201172,
                "transform": {
                    "location": {
                        "x": 2187.874267578125,
                        "y": 2548.94970703125,
                        "z": 365.1626892089844
                    },
                    "rotation": {
                        "roll": -0.0009765592985786498,
                        "pitch": 0.12818898260593414,
                        "yaw": -89.6265869140625
                    }
                },
                "velocity": {
                    "x": 0.026012055575847626,
                    "y": -4.960727214813232,
                    "z": 0.0028752516955137253
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48769,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.376574516296387,
                "transform": {
                    "location": {
                        "x": 2216.419677734375,
                        "y": 2524.279296875,
                        "z": 365.9293212890625
                    },
                    "rotation": {
                        "roll": -0.0031127927359193563,
                        "pitch": -1.6661015748977661,
                        "yaw": 179.9233856201172
                    }
                },
                "velocity": {
                    "x": -6.373976230621338,
                    "y": 0.009516900405287743,
                    "z": -0.18176822364330292
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48768,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.390370845794678,
                "transform": {
                    "location": {
                        "x": 2156.257568359375,
                        "y": 2527.354736328125,
                        "z": 364.72998046875
                    },
                    "rotation": {
                        "roll": 0.0003360282862558961,
                        "pitch": -0.040072716772556305,
                        "yaw": -0.0875243991613388
                    }
                },
                "velocity": {
                    "x": 6.3903422355651855,
                    "y": -0.01142067089676857,
                    "z": 0.01529374998062849
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0001585652062203735,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.002461655531078577,
                        "pitch": 0.21518509089946747,
                        "yaw": -179.82501220703125
                    }
                },
                "velocity": {
                    "x": 7.34649574951618e-06,
                    "y": 6.796904926886782e-06,
                    "z": 0.00015824902220629156
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00018564403580967337,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0010505119571462274,
                        "pitch": 0.21989792585372925,
                        "yaw": 179.87417602539062
                    }
                },
                "velocity": {
                    "x": -1.91200142580783e-05,
                    "y": -4.9976209993474185e-05,
                    "z": -0.00017776532331481576
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48764,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.041433334350586,
                "transform": {
                    "location": {
                        "x": 2187.993896484375,
                        "y": 2463.86962890625,
                        "z": 364.8122253417969
                    },
                    "rotation": {
                        "roll": 0.0010214003268629313,
                        "pitch": -0.5495296716690063,
                        "yaw": -89.94432830810547
                    }
                },
                "velocity": {
                    "x": 0.010432396084070206,
                    "y": -8.041051864624023,
                    "z": -0.0776272565126419
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.498345375061035,
                "transform": {
                    "location": {
                        "x": 2185.04736328125,
                        "y": 2464.893798828125,
                        "z": 364.82257080078125
                    },
                    "rotation": {
                        "roll": -9.154378494713455e-05,
                        "pitch": 0.4827987253665924,
                        "yaw": 90.07418823242188
                    }
                },
                "velocity": {
                    "x": -0.009568003006279469,
                    "y": 5.498102188110352,
                    "z": 0.050825297832489014
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.6042888760566711,
                "transform": {
                    "location": {
                        "x": 2185.03125,
                        "y": 2480.3046875,
                        "z": 364.9510803222656
                    },
                    "rotation": {
                        "roll": -0.000427289807703346,
                        "pitch": 0.6732516884803772,
                        "yaw": 90.06887817382812
                    }
                },
                "velocity": {
                    "x": 0.0006517395959235728,
                    "y": 0.6042691469192505,
                    "z": 0.004839353263378143
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48761,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.8121730089187622,
                "transform": {
                    "location": {
                        "x": 2185.01611328125,
                        "y": 2501.920166015625,
                        "z": 365.11944580078125
                    },
                    "rotation": {
                        "roll": 0.00028233672492206097,
                        "pitch": 0.3216950595378876,
                        "yaw": 90.29598236083984
                    }
                },
                "velocity": {
                    "x": -0.004297978710383177,
                    "y": 1.812148094177246,
                    "z": 0.00847692508250475
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48760,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.8122804164886475,
                "transform": {
                    "location": {
                        "x": 2184.729736328125,
                        "y": 2515.923828125,
                        "z": 365.13873291015625
                    },
                    "rotation": {
                        "roll": -0.072845458984375,
                        "pitch": 0.12733520567417145,
                        "yaw": 94.03782653808594
                    }
                },
                "velocity": {
                    "x": -0.30674871802330017,
                    "y": 2.795494318008423,
                    "z": 0.00622883765026927
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "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": -0.287337988615036,
        "expert_target_speed": 2.8960950306383952,
        "target_point": [
            23.80584624414254,
            -0.5772172854997119
        ],
        "target_point_next": [
            32.868982161382235,
            8.212289362974209
        ]
    },
    "160": {
        "acceleration": [
            0.0208987295627594,
            0.016036033630371094,
            -0.0050493329763412476
        ],
        "angular_velocity": [
            -0.1328115612268448,
            0.027721911668777466,
            0.42539259791374207
        ],
        "forward_vector": [
            -0.013134586624801159,
            0.9998928904533386,
            0.006460978649556637
        ],
        "right_vector": [
            -0.99991375207901,
            -0.013133645989000797,
            -0.0001879925694083795
        ],
        "location": [
            2184.857666015625,
            2492.380126953125,
            365.0271301269531
        ],
        "rotation": [
            0.010771405883133411,
            0.3701893985271454,
            90.75259399414062
        ],
        "velocity": [
            -0.023781614378094673,
            2.6212942600250244,
            0.017153587192296982
        ],
        "speed": 2.6214021368005653,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 60.07579803466797,
        "front_vehicle_info": {
            "id": 48775,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2135.974853515625,
                2527.302490234375,
                364.99920654296875
            ],
            "velocity": [
                0.0,
                0.0,
                -1.9600002765655518
            ],
            "speed_kmh": 7.056000995635986,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 48777,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.778076171875,
                        "y": 2575.275146484375,
                        "z": 365.0711364746094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3167431652545929,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.312239170074463,
                "transform": {
                    "location": {
                        "x": 2185.1142578125,
                        "y": 2448.16015625,
                        "z": 364.6436767578125
                    },
                    "rotation": {
                        "roll": 0.020558014512062073,
                        "pitch": 0.9770585298538208,
                        "yaw": 90.51547241210938
                    }
                },
                "velocity": {
                    "x": -0.06127871945500374,
                    "y": 7.311532497406006,
                    "z": 0.08112233877182007
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48775,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.9600002765655518,
                "transform": {
                    "location": {
                        "x": 2135.974853515625,
                        "y": 2527.302490234375,
                        "z": 364.99920654296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2181084156036377,
                        "yaw": -0.125946044921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -1.9600002765655518
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.9600002765655518,
                "transform": {
                    "location": {
                        "x": 2236.935546875,
                        "y": 2524.330322265625,
                        "z": 366.75872802734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.7185369729995728,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 6.211453751348017e-08,
                    "y": -1.3654902208948272e-10,
                    "z": -1.9600002765655518
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.1615667972364463e-05,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.0028721201233565807,
                        "pitch": 0.21765080094337463,
                        "yaw": -179.82501220703125
                    }
                },
                "velocity": {
                    "x": 6.130188467068365e-06,
                    "y": -7.039824936327932e-07,
                    "z": -9.841185601544566e-06
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.278387394966558e-05,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.001231213565915823,
                        "pitch": 0.21976815164089203,
                        "yaw": 179.87417602539062
                    }
                },
                "velocity": {
                    "x": 7.84914936957648e-06,
                    "y": 1.0183341146330349e-05,
                    "z": -8.177934068953618e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48764,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.041111946105957,
                "transform": {
                    "location": {
                        "x": 2187.99609375,
                        "y": 2461.859619140625,
                        "z": 364.7926940917969
                    },
                    "rotation": {
                        "roll": 0.00024667271645739675,
                        "pitch": -0.5698904395103455,
                        "yaw": -89.90406036376953
                    }
                },
                "velocity": {
                    "x": 0.012468598783016205,
                    "y": -8.040700912475586,
                    "z": -0.0803985670208931
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.708281517028809,
                "transform": {
                    "location": {
                        "x": 2185.045166015625,
                        "y": 2466.314453125,
                        "z": 364.8357849121094
                    },
                    "rotation": {
                        "roll": -0.0009155720472335815,
                        "pitch": 0.4883653223514557,
                        "yaw": 90.05532836914062
                    }
                },
                "velocity": {
                    "x": -0.007624275982379913,
                    "y": 5.708034515380859,
                    "z": 0.05253904312849045
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.000752141117118299,
                "transform": {
                    "location": {
                        "x": 2185.030517578125,
                        "y": 2480.41552734375,
                        "z": 364.9532470703125
                    },
                    "rotation": {
                        "roll": -0.0012206792598590255,
                        "pitch": 0.5172433853149414,
                        "yaw": 89.994873046875
                    }
                },
                "velocity": {
                    "x": -0.00011577575787669048,
                    "y": -0.00024993924307636917,
                    "z": -0.0006998875760473311
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0284891277551651,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.890380859375
                    },
                    "rotation": {
                        "roll": 0.0010919900378212333,
                        "pitch": -1.0289884805679321,
                        "yaw": 179.87396240234375
                    }
                },
                "velocity": {
                    "x": -3.938972804462537e-05,
                    "y": -9.239710925612599e-05,
                    "z": 0.028488950803875923
                },
                "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": -0.28434574604034424,
        "expert_target_speed": 3.770791735075613,
        "target_point": [
            23.14630497276867,
            -0.5374417072234736
        ],
        "target_point_next": [
            32.195332261461274,
            8.266589466416473
        ]
    },
    "165": {
        "acceleration": [
            0.008725672960281372,
            1.0378408432006836,
            -0.0028695911169052124
        ],
        "angular_velocity": [
            0.2550342381000519,
            5.7936544180847704e-05,
            -1.1709439754486084
        ],
        "forward_vector": [
            -0.011242398992180824,
            0.9999123811721802,
            0.006993236485868692
        ],
        "right_vector": [
            -0.9999368190765381,
            -0.011241394095122814,
            -0.0001829676330089569
        ],
        "location": [
            2184.8515625,
            2493.0546875,
            365.0312805175781
        ],
        "rotation": [
            0.010483529418706894,
            0.40068620443344116,
            90.64417266845703
        ],
        "velocity": [
            -0.02085084095597267,
            2.8044044971466064,
            0.017314443364739418
        ],
        "speed": 2.804482009424322,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 59.68230056762695,
        "front_vehicle_info": {
            "id": 48775,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2135.974365234375,
                2527.302490234375,
                364.7409973144531
            ],
            "velocity": [
                -3.0838102247798815e-05,
                -0.00018168688984587789,
                -0.011719473637640476
            ],
            "speed_kmh": 0.04219532087819258,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 48777,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.780517578125,
                        "y": 2573.19140625,
                        "z": 365.0768737792969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3167431652545929,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.563520431518555,
                "transform": {
                    "location": {
                        "x": 2185.09765625,
                        "y": 2450.130126953125,
                        "z": 364.666015625
                    },
                    "rotation": {
                        "roll": 0.009164614602923393,
                        "pitch": 0.9559805393218994,
                        "yaw": 90.41549682617188
                    }
                },
                "velocity": {
                    "x": -0.06352885067462921,
                    "y": 8.562734603881836,
                    "z": 0.09701913595199585
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48775,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.011720922775566578,
                "transform": {
                    "location": {
                        "x": 2135.974365234375,
                        "y": 2527.302490234375,
                        "z": 364.7409973144531
                    },
                    "rotation": {
                        "roll": -0.00048828125,
                        "pitch": -0.22195380926132202,
                        "yaw": -0.1259460598230362
                    }
                },
                "velocity": {
                    "x": -3.0838102247798815e-05,
                    "y": -0.00018168688984587789,
                    "z": -0.011719473637640476
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.12438580393791199,
                "transform": {
                    "location": {
                        "x": 2236.93994140625,
                        "y": 2524.330322265625,
                        "z": 366.4898376464844
                    },
                    "rotation": {
                        "roll": 0.0018795476062223315,
                        "pitch": -1.7589101791381836,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": -0.003864845260977745,
                    "y": 0.00023152776702772826,
                    "z": 0.12432553619146347
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0002442925760988146,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.0026565531734377146,
                        "pitch": 0.21760298311710358,
                        "yaw": -179.8249969482422
                    }
                },
                "velocity": {
                    "x": 4.489682396524586e-06,
                    "y": -5.859004886588082e-06,
                    "z": -0.0002441810502205044
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0005128171760588884,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.001231213565915823,
                        "pitch": 0.21976815164089203,
                        "yaw": 179.87417602539062
                    }
                },
                "velocity": {
                    "x": 8.35906666907249e-06,
                    "y": 3.027737511729356e-05,
                    "z": -0.0005118543049320579
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48764,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.04131031036377,
                "transform": {
                    "location": {
                        "x": 2187.998779296875,
                        "y": 2459.849853515625,
                        "z": 364.7726135253906
                    },
                    "rotation": {
                        "roll": -0.00024413793289568275,
                        "pitch": -0.5687839984893799,
                        "yaw": -89.94145965576172
                    }
                },
                "velocity": {
                    "x": 0.010734534822404385,
                    "y": -8.040882110595703,
                    "z": -0.08229032158851624
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.720594882965088,
                "transform": {
                    "location": {
                        "x": 2185.04345703125,
                        "y": 2467.983642578125,
                        "z": 364.851318359375
                    },
                    "rotation": {
                        "roll": 0.001031684223562479,
                        "pitch": 0.45239073038101196,
                        "yaw": 90.06666564941406
                    }
                },
                "velocity": {
                    "x": -0.008270002901554108,
                    "y": 6.72029972076416,
                    "z": 0.06240213289856911
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0014630146324634552,
                "transform": {
                    "location": {
                        "x": 2185.030517578125,
                        "y": 2480.415283203125,
                        "z": 364.9537658691406
                    },
                    "rotation": {
                        "roll": -0.0008544934680685401,
                        "pitch": 0.4482789635658264,
                        "yaw": 89.99491119384766
                    }
                },
                "velocity": {
                    "x": -0.00010341566667193547,
                    "y": -0.00020686700008809566,
                    "z": -0.001444618683308363
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.005931099411100149,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.8946533203125
                    },
                    "rotation": {
                        "roll": 0.0003952516708523035,
                        "pitch": -0.9951789975166321,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": -9.295746713178232e-05,
                    "y": -5.6765449699014425e-05,
                    "z": 0.005930099170655012
                },
                "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": -0.2817786633968353,
        "expert_target_speed": 3.947702392622922,
        "target_point": [
            22.472694245001687,
            -0.4921496888780823
        ],
        "target_point_next": [
            31.505041018522732,
            8.328993748386237
        ]
    },
    "170": {
        "acceleration": [
            0.011310838162899017,
            2.0186424255371094,
            0.002842918038368225
        ],
        "angular_velocity": [
            0.3569790720939636,
            0.007288305088877678,
            0.16458535194396973
        ],
        "forward_vector": [
            -0.00943869911134243,
            0.9999221563339233,
            0.008160976693034172
        ],
        "right_vector": [
            -0.9999554753303528,
            -0.009437527507543564,
            -0.0001821257028495893
        ],
        "location": [
            2184.846435546875,
            2493.79736328125,
            365.03564453125
        ],
        "rotation": [
            0.010435381904244423,
            0.467594712972641,
            90.54082489013672
        ],
        "velocity": [
            -0.0175646785646677,
            3.1628658771514893,
            0.018084106966853142
        ],
        "speed": 3.16291464867175,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 59.23133850097656,
        "front_vehicle_info": {
            "id": 48775,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2136.0029296875,
                2527.302490234375,
                364.7711486816406
            ],
            "velocity": [
                0.6334806084632874,
                0.004745923914015293,
                0.12469872832298279
            ],
            "speed_kmh": 2.3243568818231974,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 48777,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.782470703125,
                        "y": 2571.107421875,
                        "z": 365.082763671875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3167431652545929,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.11086654663086,
                "transform": {
                    "location": {
                        "x": 2185.0830078125,
                        "y": 2452.2265625,
                        "z": 364.6922302246094
                    },
                    "rotation": {
                        "roll": 0.011841296218335629,
                        "pitch": 0.639210045337677,
                        "yaw": 90.37931060791016
                    }
                },
                "velocity": {
                    "x": -0.04636453464627266,
                    "y": 8.1102294921875,
                    "z": 0.09041889011859894
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48775,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.6456546783447266,
                "transform": {
                    "location": {
                        "x": 2136.0029296875,
                        "y": 2527.302490234375,
                        "z": 364.7711486816406
                    },
                    "rotation": {
                        "roll": -0.004425047896802425,
                        "pitch": -0.10162638127803802,
                        "yaw": -0.0967712253332138
                    }
                },
                "velocity": {
                    "x": 0.6334806084632874,
                    "y": 0.004745923914015293,
                    "z": 0.12469872832298279
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.13863645493984222,
                "transform": {
                    "location": {
                        "x": 2236.93798828125,
                        "y": 2524.330322265625,
                        "z": 366.542724609375
                    },
                    "rotation": {
                        "roll": 0.00047133330372162163,
                        "pitch": -1.7557955980300903,
                        "yaw": 179.8738555908203
                    }
                },
                "velocity": {
                    "x": -0.004290593322366476,
                    "y": 0.0002255891013192013,
                    "z": 0.13856986165046692
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.878409087425098e-05,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.78143310546875
                    },
                    "rotation": {
                        "roll": 0.0025050537660717964,
                        "pitch": 0.21779422461986542,
                        "yaw": -179.82493591308594
                    }
                },
                "velocity": {
                    "x": 4.953518327965867e-06,
                    "y": 2.922024622264985e-09,
                    "z": -7.862821075832471e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.000261591630987823,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.001231213565915823,
                        "pitch": 0.21976815164089203,
                        "yaw": 179.87417602539062
                    }
                },
                "velocity": {
                    "x": 6.840265996288508e-06,
                    "y": 2.9559165341197513e-05,
                    "z": 0.0002598261635284871
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48764,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.041934967041016,
                "transform": {
                    "location": {
                        "x": 2188.00048828125,
                        "y": 2457.839111328125,
                        "z": 364.7518615722656
                    },
                    "rotation": {
                        "roll": 0.0015994447749108076,
                        "pitch": -0.5966716408729553,
                        "yaw": -89.91107940673828
                    }
                },
                "velocity": {
                    "x": 0.011301700957119465,
                    "y": -8.041482925415039,
                    "z": -0.0844535082578659
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.6774396896362305,
                "transform": {
                    "location": {
                        "x": 2185.04150390625,
                        "y": 2469.53857421875,
                        "z": 364.86419677734375
                    },
                    "rotation": {
                        "roll": 6.094138734624721e-05,
                        "pitch": 0.5957290530204773,
                        "yaw": 90.06664276123047
                    }
                },
                "velocity": {
                    "x": -0.006662892177700996,
                    "y": 5.677225589752197,
                    "z": 0.04883270338177681
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00011986565368715674,
                "transform": {
                    "location": {
                        "x": 2185.030517578125,
                        "y": 2480.415283203125,
                        "z": 364.953857421875
                    },
                    "rotation": {
                        "roll": -0.0004272860533092171,
                        "pitch": 0.43606656789779663,
                        "yaw": 89.99491882324219
                    }
                },
                "velocity": {
                    "x": -3.363564610481262e-05,
                    "y": -4.624448774848133e-05,
                    "z": -0.00010534640750847757
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.2883283793926239,
        "expert_target_speed": 4.293433114100098,
        "target_point": [
            21.730854687186294,
            -0.4497133293589095
        ],
        "target_point_next": [
            30.747268213003256,
            8.38771542053166
        ]
    },
    "175": {
        "acceleration": [
            0.01983826979994774,
            4.360294342041016,
            0.03539770841598511
        ],
        "angular_velocity": [
            0.8209406137466431,
            -0.02184753119945526,
            -0.6253657341003418
        ],
        "forward_vector": [
            -0.007107631769031286,
            0.9999122023582458,
            0.011182551272213459
        ],
        "right_vector": [
            -0.9999746680259705,
            -0.007105034310370684,
            -0.00027195317670702934
        ],
        "location": [
            2184.842041015625,
            2494.697021484375,
            365.0404357910156
        ],
        "rotation": [
            0.015582744032144547,
            0.6407263278961182,
            90.40726470947266
        ],
        "velocity": [
            -0.014190045185387135,
            4.078968524932861,
            0.024997729808092117
        ],
        "speed": 4.078993207248,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 58.4622917175293,
        "front_vehicle_info": {
            "id": 48775,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2136.3193359375,
                2527.3056640625,
                364.7892150878906
            ],
            "velocity": [
                1.7855552434921265,
                0.018318582326173782,
                0.038603007793426514
            ],
            "speed_kmh": 6.429839145841715,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 48777,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.784912109375,
                        "y": 2569.023681640625,
                        "z": 365.0933837890625
                    },
                    "rotation": {
                        "roll": 1.334035371058917e-08,
                        "pitch": 0.26409608125686646,
                        "yaw": -89.93962860107422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.0958118438720703,
                "transform": {
                    "location": {
                        "x": 2185.0751953125,
                        "y": 2453.52685546875,
                        "z": 364.7155456542969
                    },
                    "rotation": {
                        "roll": 0.007325486745685339,
                        "pitch": -0.5145864486694336,
                        "yaw": 90.31090545654297
                    }
                },
                "velocity": {
                    "x": -0.010815795511007309,
                    "y": 2.095688581466675,
                    "z": 0.019990911707282066
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48775,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.7860664129257202,
                "transform": {
                    "location": {
                        "x": 2136.3193359375,
                        "y": 2527.3056640625,
                        "z": 364.7892150878906
                    },
                    "rotation": {
                        "roll": -0.014862060546875,
                        "pitch": 0.17862309515476227,
                        "yaw": -0.005462646484375
                    }
                },
                "velocity": {
                    "x": 1.7855552434921265,
                    "y": 0.018318582326173782,
                    "z": 0.038603007793426514
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.9234477281570435,
                "transform": {
                    "location": {
                        "x": 2236.86865234375,
                        "y": 2524.32958984375,
                        "z": 366.5540466308594
                    },
                    "rotation": {
                        "roll": -0.0023498525843024254,
                        "pitch": -1.7289119958877563,
                        "yaw": 179.89907836914062
                    }
                },
                "velocity": {
                    "x": -0.9231380224227905,
                    "y": -0.013438872992992401,
                    "z": -0.01978025957942009
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00012339181557763368,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.0030112804379314184,
                        "pitch": 0.21765762567520142,
                        "yaw": -179.82493591308594
                    }
                },
                "velocity": {
                    "x": 8.945316039898898e-06,
                    "y": 1.4131890566204675e-05,
                    "z": -0.00012225307000335306
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00032505718991160393,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.001231213565915823,
                        "pitch": 0.21976815164089203,
                        "yaw": 179.87417602539062
                    }
                },
                "velocity": {
                    "x": -2.8900578399770893e-05,
                    "y": -2.429938831483014e-05,
                    "z": -0.00032285673660226166
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48764,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.040732383728027,
                "transform": {
                    "location": {
                        "x": 2188.002685546875,
                        "y": 2455.828857421875,
                        "z": 364.7307434082031
                    },
                    "rotation": {
                        "roll": 6.294267222983763e-05,
                        "pitch": -0.6083307862281799,
                        "yaw": -89.94708251953125
                    }
                },
                "velocity": {
                    "x": 0.009973176755011082,
                    "y": -8.040288925170898,
                    "z": -0.08388175815343857
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.7040600180625916,
                "transform": {
                    "location": {
                        "x": 2185.040283203125,
                        "y": 2470.3525390625,
                        "z": 364.8682861328125
                    },
                    "rotation": {
                        "roll": 0.0017564900917932391,
                        "pitch": 0.9161946773529053,
                        "yaw": 90.05226135253906
                    }
                },
                "velocity": {
                    "x": -0.0015448241028934717,
                    "y": 0.7040358781814575,
                    "z": 0.005626239813864231
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.6131665435968898e-05,
                "transform": {
                    "location": {
                        "x": 2185.030517578125,
                        "y": 2480.415283203125,
                        "z": 364.9538879394531
                    },
                    "rotation": {
                        "roll": -0.0003662394010461867,
                        "pitch": 0.43473467230796814,
                        "yaw": 89.99491882324219
                    }
                },
                "velocity": {
                    "x": 1.2594857423664507e-07,
                    "y": -1.7706453945720568e-05,
                    "z": -1.921794864756521e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.28424566984176636,
        "expert_target_speed": 5.165502225941526,
        "target_point": [
            20.832178924317162,
            -0.3969695223678976
        ],
        "target_point_next": [
            29.82792974704254,
            8.461491230684132
        ]
    },
    "180": {
        "acceleration": [
            0.05255914479494095,
            4.458732604980469,
            0.08851949125528336
        ],
        "angular_velocity": [
            0.4027661979198456,
            -0.017645085230469704,
            -0.7227164506912231
        ],
        "forward_vector": [
            -0.004214283544570208,
            0.9998980760574341,
            0.013640099205076694
        ],
        "right_vector": [
            -0.9999910593032837,
            -0.004209712613373995,
            -0.00036379785160534084
        ],
        "location": [
            2184.839111328125,
            2495.859130859375,
            365.0471496582031
        ],
        "rotation": [
            0.020846020430326462,
            0.7815443277359009,
            90.24148559570312
        ],
        "velocity": [
            -0.004195652902126312,
            5.171853065490723,
            0.034881725907325745
        ],
        "speed": 5.171854767346919,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 57.34102249145508,
        "front_vehicle_info": {
            "id": 48775,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2136.894287109375,
                2527.31103515625,
                364.7931213378906
            ],
            "velocity": [
                2.7727203369140625,
                0.0326053723692894,
                0.0016297530382871628
            ],
            "speed_kmh": 9.982485065227158,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 48777,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.786865234375,
                        "y": 2566.93994140625,
                        "z": 365.1038513183594
                    },
                    "rotation": {
                        "roll": 1.334035371058917e-08,
                        "pitch": 0.26409608125686646,
                        "yaw": -89.93962860107422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.7111308574676514,
                "transform": {
                    "location": {
                        "x": 2185.07275390625,
                        "y": 2453.93310546875,
                        "z": 364.7151794433594
                    },
                    "rotation": {
                        "roll": 0.0022260784171521664,
                        "pitch": 0.03182867914438248,
                        "yaw": 90.26200103759766
                    }
                },
                "velocity": {
                    "x": -0.005610286258161068,
                    "y": 1.7110216617584229,
                    "z": 0.018500948324799538
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48775,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.7729127407073975,
                "transform": {
                    "location": {
                        "x": 2136.894287109375,
                        "y": 2527.31103515625,
                        "z": 364.7931213378906
                    },
                    "rotation": {
                        "roll": -0.0206298828125,
                        "pitch": 0.22140057384967804,
                        "yaw": 0.2538858652114868
                    }
                },
                "velocity": {
                    "x": 2.7727203369140625,
                    "y": 0.0326053723692894,
                    "z": 0.0016297530382871628
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.7293119430541992,
                "transform": {
                    "location": {
                        "x": 2236.518310546875,
                        "y": 2524.326904296875,
                        "z": 366.54296875
                    },
                    "rotation": {
                        "roll": -0.006652831565588713,
                        "pitch": -1.7219247817993164,
                        "yaw": -179.9239959716797
                    }
                },
                "velocity": {
                    "x": -1.7283620834350586,
                    "y": -0.01272231712937355,
                    "z": -0.0558801144361496
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0001578690716996789,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.002718013944104314,
                        "pitch": 0.2176986038684845,
                        "yaw": -179.82492065429688
                    }
                },
                "velocity": {
                    "x": 6.88452246322413e-06,
                    "y": 2.122938349202741e-05,
                    "z": 0.00015628358232788742
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00013151024177204818,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.001231213565915823,
                        "pitch": 0.21976815164089203,
                        "yaw": 179.87417602539062
                    }
                },
                "velocity": {
                    "x": 2.99745788652217e-05,
                    "y": 5.877044895896688e-05,
                    "z": -0.00011376511974958703
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48764,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.04232406616211,
                "transform": {
                    "location": {
                        "x": 2188.00439453125,
                        "y": 2453.818603515625,
                        "z": 364.70916748046875
                    },
                    "rotation": {
                        "roll": 0.001792788039892912,
                        "pitch": -0.6157552003860474,
                        "yaw": -89.90827178955078
                    }
                },
                "velocity": {
                    "x": 0.01200138684362173,
                    "y": -8.041821479797363,
                    "z": -0.08907201886177063
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0021944998297840357,
                "transform": {
                    "location": {
                        "x": 2185.040283203125,
                        "y": 2470.3564453125,
                        "z": 364.8704528808594
                    },
                    "rotation": {
                        "roll": 0.0013882741332054138,
                        "pitch": 0.6583277583122253,
                        "yaw": 90.0455322265625
                    }
                },
                "velocity": {
                    "x": 0.00010892490536207333,
                    "y": -0.0015440132701769471,
                    "z": 0.001555630937218666
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.20292094349861145,
                "transform": {
                    "location": {
                        "x": 2185.030517578125,
                        "y": 2480.427490234375,
                        "z": 364.95404052734375
                    },
                    "rotation": {
                        "roll": -0.0005188414943404496,
                        "pitch": 0.4205210506916046,
                        "yaw": 89.9914321899414
                    }
                },
                "velocity": {
                    "x": -0.0013285125605762005,
                    "y": 0.20290358364582062,
                    "z": 0.002297191647812724
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.27393046021461487,
        "expert_target_speed": 6.169274354115955,
        "target_point": [
            19.671126680127017,
            -0.33486203288147864
        ],
        "target_point_next": [
            28.641267697715772,
            8.549530456337985
        ]
    },
    "185": {
        "acceleration": [
            0.03222965449094772,
            -0.5612850189208984,
            -0.0028448179364204407
        ],
        "angular_velocity": [
            -1.1447563171386719,
            0.009082446806132793,
            -0.5773255228996277
        ],
        "forward_vector": [
            -0.0013977052876725793,
            0.9999511241912842,
            0.009788356721401215
        ],
        "right_vector": [
            -0.9999989867210388,
            -0.001395004102960229,
            -0.0002827704884111881
        ],
        "location": [
            2184.838623046875,
            2497.1806640625,
            365.0555725097656
        ],
        "rotation": [
            0.016202332451939583,
            0.5608404874801636,
            90.08008575439453
        ],
        "velocity": [
            0.004871893208473921,
            5.277573585510254,
            0.029236925765872
        ],
        "speed": 5.277575834208259,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 55.90239715576172,
        "front_vehicle_info": {
            "id": 48775,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2137.758056640625,
                2527.32080078125,
                364.79107666015625
            ],
            "velocity": [
                4.11639404296875,
                0.05128698796033859,
                -0.013114518485963345
            ],
            "speed_kmh": 14.820243902339204,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 48777,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.892034530639648,
                "transform": {
                    "location": {
                        "x": 2187.792236328125,
                        "y": 2565.05517578125,
                        "z": 365.1133117675781
                    },
                    "rotation": {
                        "roll": -0.0403442457318306,
                        "pitch": -0.20150423049926758,
                        "yaw": -89.80166625976562
                    }
                },
                "velocity": {
                    "x": 0.050575368106365204,
                    "y": -6.891826152801514,
                    "z": 0.017696723341941833
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.2346513271331787,
                "transform": {
                    "location": {
                        "x": 2185.07080078125,
                        "y": 2454.450927734375,
                        "z": 364.7142028808594
                    },
                    "rotation": {
                        "roll": 0.0013609372545033693,
                        "pitch": 0.866095244884491,
                        "yaw": 90.25723266601562
                    }
                },
                "velocity": {
                    "x": -0.007943267934024334,
                    "y": 2.234492540359497,
                    "z": 0.025422487407922745
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48775,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.116734504699707,
                "transform": {
                    "location": {
                        "x": 2137.758056640625,
                        "y": 2527.32080078125,
                        "z": 364.79107666015625
                    },
                    "rotation": {
                        "roll": -0.01879882626235485,
                        "pitch": 0.3158484101295471,
                        "yaw": 0.4418598413467407
                    }
                },
                "velocity": {
                    "x": 4.11639404296875,
                    "y": 0.05128698796033859,
                    "z": -0.013114518485963345
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.3337340354919434,
                "transform": {
                    "location": {
                        "x": 2236.00439453125,
                        "y": 2524.32373046875,
                        "z": 366.5269470214844
                    },
                    "rotation": {
                        "roll": -0.00872802548110485,
                        "pitch": -1.7318353652954102,
                        "yaw": -179.86663818359375
                    }
                },
                "velocity": {
                    "x": -2.332582712173462,
                    "y": -0.01673455536365509,
                    "z": -0.07135941833257675
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.0025967066176235676,
                        "pitch": 0.21771909296512604,
                        "yaw": -179.82492065429688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.336956382961944e-05,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.001231213565915823,
                        "pitch": 0.21976815164089203,
                        "yaw": 179.87417602539062
                    }
                },
                "velocity": {
                    "x": 2.3022666937322356e-06,
                    "y": -4.5401984607451595e-06,
                    "z": -5.3126230341149494e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48764,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.042516708374023,
                "transform": {
                    "location": {
                        "x": 2188.0068359375,
                        "y": 2451.80810546875,
                        "z": 364.68695068359375
                    },
                    "rotation": {
                        "roll": -0.00039678975008428097,
                        "pitch": -0.6448996067047119,
                        "yaw": -89.94353485107422
                    }
                },
                "velocity": {
                    "x": 0.010626091621816158,
                    "y": -8.042010307312012,
                    "z": -0.08962130546569824
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0011862990213558078,
                "transform": {
                    "location": {
                        "x": 2185.040283203125,
                        "y": 2470.355712890625,
                        "z": 364.8716735839844
                    },
                    "rotation": {
                        "roll": 0.0012855678796768188,
                        "pitch": 0.5133160352706909,
                        "yaw": 90.0455551147461
                    }
                },
                "velocity": {
                    "x": 1.7135776943177916e-05,
                    "y": -0.00023906461137812585,
                    "z": 0.001161834690719843
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.0122274160385132,
                "transform": {
                    "location": {
                        "x": 2185.03076171875,
                        "y": 2480.58935546875,
                        "z": 364.955810546875
                    },
                    "rotation": {
                        "roll": -9.152899292530492e-05,
                        "pitch": 0.35945916175842285,
                        "yaw": 89.99645233154297
                    }
                },
                "velocity": {
                    "x": -0.0012839299160987139,
                    "y": 1.012205958366394,
                    "z": 0.006461219862103462
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.27035754919052124,
        "expert_target_speed": 6.257137421625758,
        "target_point": [
            18.350452083817473,
            -0.27856693868020815
        ],
        "target_point_next": [
            27.295762499398954,
            8.630825933273352
        ]
    },
    "190": {
        "acceleration": [
            -0.029969578608870506,
            5.559720993041992,
            0.03472037613391876
        ],
        "angular_velocity": [
            0.737896203994751,
            0.10780496150255203,
            -0.0455022007226944
        ],
        "forward_vector": [
            0.00031833708635531366,
            0.9999144673347473,
            0.013074024580419064
        ],
        "right_vector": [
            -0.9999999403953552,
            0.000319840939482674,
            -0.00011293589341221377
        ],
        "location": [
            2184.84033203125,
            2498.674560546875,
            365.0630798339844
        ],
        "rotation": [
            0.006471303291618824,
            0.7491077780723572,
            89.98175811767578
        ],
        "velocity": [
            0.005034998990595341,
            6.711149215698242,
            0.03687087818980217
        ],
        "speed": 6.711151104436702,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 54.09615707397461,
        "front_vehicle_info": {
            "id": 48775,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2138.95703125,
                2527.328369140625,
                364.7869567871094
            ],
            "velocity": [
                5.399665832519531,
                0.03161311149597168,
                -0.018161963671445847
            ],
            "speed_kmh": 19.439240101355228,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 48777,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.651242733001709,
                "transform": {
                    "location": {
                        "x": 2187.807373046875,
                        "y": 2563.361572265625,
                        "z": 365.11712646484375
                    },
                    "rotation": {
                        "roll": -0.0401916429400444,
                        "pitch": 0.02861849032342434,
                        "yaw": -89.49039459228516
                    }
                },
                "velocity": {
                    "x": 0.0744352862238884,
                    "y": -6.650794982910156,
                    "z": 0.020517835393548012
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.876075267791748,
                "transform": {
                    "location": {
                        "x": 2185.068603515625,
                        "y": 2454.955322265625,
                        "z": 364.721435546875
                    },
                    "rotation": {
                        "roll": 0.003187100403010845,
                        "pitch": 0.6476316452026367,
                        "yaw": 90.2390365600586
                    }
                },
                "velocity": {
                    "x": -0.00661120330914855,
                    "y": 1.875941276550293,
                    "z": 0.02142210863530636
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48775,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.399788856506348,
                "transform": {
                    "location": {
                        "x": 2138.95703125,
                        "y": 2527.328369140625,
                        "z": 364.7869567871094
                    },
                    "rotation": {
                        "roll": 0.010542544536292553,
                        "pitch": 0.3563787639141083,
                        "yaw": 0.37494271993637085
                    }
                },
                "velocity": {
                    "x": 5.399665832519531,
                    "y": 0.03161311149597168,
                    "z": -0.018161963671445847
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.9268112182617188,
                "transform": {
                    "location": {
                        "x": 2235.3447265625,
                        "y": 2524.320068359375,
                        "z": 366.5067443847656
                    },
                    "rotation": {
                        "roll": -0.009796141646802425,
                        "pitch": -1.7337273359298706,
                        "yaw": -179.77716064453125
                    }
                },
                "velocity": {
                    "x": -2.925370693206787,
                    "y": -0.02143714390695095,
                    "z": -0.08927999436855316
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00020705678616650403,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.78143310546875
                    },
                    "rotation": {
                        "roll": 0.0028531060088425875,
                        "pitch": 0.21778057515621185,
                        "yaw": -179.82492065429688
                    }
                },
                "velocity": {
                    "x": 1.4947279851185158e-05,
                    "y": -2.064370346488431e-05,
                    "z": 0.00020548218162730336
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00042245551594533026,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0015894495882093906,
                        "pitch": 0.21985012292861938,
                        "yaw": 179.874267578125
                    }
                },
                "velocity": {
                    "x": -8.841901944833808e-06,
                    "y": 5.327614871930564e-06,
                    "z": -0.0004223293799441308
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48764,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.041746139526367,
                "transform": {
                    "location": {
                        "x": 2188.0087890625,
                        "y": 2449.79736328125,
                        "z": 364.66424560546875
                    },
                    "rotation": {
                        "roll": -0.0005798825877718627,
                        "pitch": -0.6461222171783447,
                        "yaw": -89.90349578857422
                    }
                },
                "velocity": {
                    "x": 0.012344012968242168,
                    "y": -8.041219711303711,
                    "z": -0.09114668518304825
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.07889978587627411,
                "transform": {
                    "location": {
                        "x": 2185.040283203125,
                        "y": 2470.36181640625,
                        "z": 364.8717956542969
                    },
                    "rotation": {
                        "roll": 0.0013384739868342876,
                        "pitch": 0.49748364090919495,
                        "yaw": 90.04578399658203
                    }
                },
                "velocity": {
                    "x": -6.87667416059412e-05,
                    "y": 0.07889363914728165,
                    "z": 0.000982198747806251
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.879737138748169,
                "transform": {
                    "location": {
                        "x": 2185.031005859375,
                        "y": 2480.955810546875,
                        "z": 364.9585876464844
                    },
                    "rotation": {
                        "roll": -0.00015258807979989797,
                        "pitch": 0.3426978886127472,
                        "yaw": 90.02525329589844
                    }
                },
                "velocity": {
                    "x": -0.0034707554150372744,
                    "y": 1.8796809911727905,
                    "z": 0.014094647951424122
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.25236910581588745,
        "expert_target_speed": 7.423181192833058,
        "target_point": [
            16.85693357183021,
            -0.2507338955549972
        ],
        "target_point_next": [
            25.789551539326638,
            8.671384464155743
        ]
    },
    "195": {
        "acceleration": [
            -0.004267713520675898,
            4.69304084777832,
            0.03305763006210327
        ],
        "angular_velocity": [
            0.1534416526556015,
            -0.02568669058382511,
            0.01778031513094902
        ],
        "forward_vector": [
            0.00025563291274011135,
            0.9998931288719177,
            0.014615372754633427
        ],
        "right_vector": [
            -0.9999999403953552,
            0.0002553721715230495,
            1.97053868760122e-05
        ],
        "location": [
            2184.84033203125,
            2500.5185546875,
            365.0723876953125
        ],
        "rotation": [
            -0.0011291560949757695,
            0.8374289870262146,
            89.9853515625
        ],
        "velocity": [
            0.0015240785432979465,
            7.967950820922852,
            0.03991081193089485
        ],
        "speed": 7.967950966682749,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 51.96232986450195,
        "front_vehicle_info": {
            "id": 48775,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2140.333984375,
                2527.336181640625,
                364.7828369140625
            ],
            "velocity": [
                5.576135158538818,
                0.03363095223903656,
                -0.021415552124381065
            ],
            "speed_kmh": 20.074599715350686,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 48777,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.495121955871582,
                "transform": {
                    "location": {
                        "x": 2187.82666015625,
                        "y": 2561.676025390625,
                        "z": 365.1224060058594
                    },
                    "rotation": {
                        "roll": -0.022460930049419403,
                        "pitch": 0.13361215591430664,
                        "yaw": -89.34649658203125
                    }
                },
                "velocity": {
                    "x": 0.0806947723031044,
                    "y": -6.494585037231445,
                    "z": 0.021475819870829582
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.9929484128952026,
                "transform": {
                    "location": {
                        "x": 2185.06689453125,
                        "y": 2455.484375,
                        "z": 364.727294921875
                    },
                    "rotation": {
                        "roll": 0.002572283148765564,
                        "pitch": 0.6325642466545105,
                        "yaw": 90.23725891113281
                    }
                },
                "velocity": {
                    "x": -0.0069234613329172134,
                    "y": 1.992828369140625,
                    "z": 0.020749034360051155
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48775,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.576277732849121,
                "transform": {
                    "location": {
                        "x": 2140.333984375,
                        "y": 2527.336181640625,
                        "z": 364.7828369140625
                    },
                    "rotation": {
                        "roll": -0.000274658203125,
                        "pitch": 0.08572570234537125,
                        "yaw": 0.44229957461357117
                    }
                },
                "velocity": {
                    "x": 5.576135158538818,
                    "y": 0.03363095223903656,
                    "z": -0.021415552124381065
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.630321741104126,
                "transform": {
                    "location": {
                        "x": 2234.525390625,
                        "y": 2524.314697265625,
                        "z": 366.4817199707031
                    },
                    "rotation": {
                        "roll": -0.01269531063735485,
                        "pitch": -1.7310771942138672,
                        "yaw": -179.6956787109375
                    }
                },
                "velocity": {
                    "x": -3.6285412311553955,
                    "y": -0.027516935020685196,
                    "z": -0.11030682176351547
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.2020044677192345e-05,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.78143310546875
                    },
                    "rotation": {
                        "roll": 0.0024394781794399023,
                        "pitch": 0.21775324642658234,
                        "yaw": -179.82492065429688
                    }
                },
                "velocity": {
                    "x": 5.526989752979716e-06,
                    "y": -4.3707095755962655e-06,
                    "z": -5.154061000212096e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0003601864736992866,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0006936169811524451,
                        "pitch": 0.21961788833141327,
                        "yaw": 179.87429809570312
                    }
                },
                "velocity": {
                    "x": -2.1014511730754748e-05,
                    "y": 4.69118713226635e-05,
                    "z": -0.0003564995713531971
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48764,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.8544135093688965,
                "transform": {
                    "location": {
                        "x": 2188.01171875,
                        "y": 2447.802978515625,
                        "z": 364.6413269042969
                    },
                    "rotation": {
                        "roll": -0.0002441943797748536,
                        "pitch": -0.6378713250160217,
                        "yaw": -89.94243621826172
                    }
                },
                "velocity": {
                    "x": 0.008366032503545284,
                    "y": -7.853877544403076,
                    "z": -0.09137827903032303
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.8996265530586243,
                "transform": {
                    "location": {
                        "x": 2185.040283203125,
                        "y": 2470.482421875,
                        "z": 364.8734436035156
                    },
                    "rotation": {
                        "roll": 0.0011795616010203958,
                        "pitch": 0.430896133184433,
                        "yaw": 90.02151489257812
                    }
                },
                "velocity": {
                    "x": -0.0010160859674215317,
                    "y": 0.899592936038971,
                    "z": 0.007711315061897039
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.717785596847534,
                "transform": {
                    "location": {
                        "x": 2185.030517578125,
                        "y": 2481.533935546875,
                        "z": 364.96295166015625
                    },
                    "rotation": {
                        "roll": 2.358589154027868e-05,
                        "pitch": 0.33148956298828125,
                        "yaw": 90.03889465332031
                    }
                },
                "velocity": {
                    "x": -0.003545105690136552,
                    "y": 2.7177138328552246,
                    "z": 0.019422730430960655
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.21503056585788727,
        "expert_target_speed": 8.29556721322906,
        "target_point": [
            15.012939431205218,
            -0.25073373434790297
        ],
        "target_point_next": [
            23.945557398701645,
            8.671384625362837
        ]
    },
    "200": {
        "acceleration": [
            -0.010655113495886326,
            1.2830352783203125,
            0.008627325296401978
        ],
        "angular_velocity": [
            -1.0497819185256958,
            0.027668891474604607,
            0.053998980671167374
        ],
        "forward_vector": [
            3.7980447814334184e-05,
            0.9999051094055176,
            0.01377443503588438
        ],
        "right_vector": [
            -1.0,
            3.7243051338009536e-05,
            5.3790394304087386e-05
        ],
        "location": [
            2184.84033203125,
            2502.654541015625,
            365.0834045410156
        ],
        "rotation": [
            -0.003082255134359002,
            0.7892419695854187,
            89.9978256225586
        ],
        "velocity": [
            -0.0003999120381195098,
            8.88862133026123,
            0.04507988691329956
        ],
        "speed": 8.888621339257543,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 49.4468879699707,
        "front_vehicle_info": {
            "id": 48775,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2142.0009765625,
                2527.346435546875,
                364.77545166015625
            ],
            "velocity": [
                7.446140766143799,
                0.04333919286727905,
                -0.028478922322392464
            ],
            "speed_kmh": 26.80675685913407,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 48777,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.3342413902282715,
                "transform": {
                    "location": {
                        "x": 2187.841796875,
                        "y": 2560.26318359375,
                        "z": 365.12835693359375
                    },
                    "rotation": {
                        "roll": 0.015166047029197216,
                        "pitch": -0.16110366582870483,
                        "yaw": -89.39258575439453
                    }
                },
                "velocity": {
                    "x": 0.045063599944114685,
                    "y": -5.334020137786865,
                    "z": 0.018126582726836205
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.3071004152297974,
                "transform": {
                    "location": {
                        "x": 2185.06689453125,
                        "y": 2455.678466796875,
                        "z": 364.7310791015625
                    },
                    "rotation": {
                        "roll": 0.0020899574737995863,
                        "pitch": 0.40873900055885315,
                        "yaw": 90.32036590576172
                    }
                },
                "velocity": {
                    "x": -0.005841336213052273,
                    "y": 1.3070167303085327,
                    "z": 0.013584690168499947
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48775,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.446321487426758,
                "transform": {
                    "location": {
                        "x": 2142.0009765625,
                        "y": 2527.346435546875,
                        "z": 364.77545166015625
                    },
                    "rotation": {
                        "roll": 0.0007105148397386074,
                        "pitch": 0.3470282256603241,
                        "yaw": 0.3715507984161377
                    }
                },
                "velocity": {
                    "x": 7.446140766143799,
                    "y": 0.04333919286727905,
                    "z": -0.028478922322392464
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.536021709442139,
                "transform": {
                    "location": {
                        "x": 2233.5048828125,
                        "y": 2524.307373046875,
                        "z": 366.4504699707031
                    },
                    "rotation": {
                        "roll": -0.0156860314309597,
                        "pitch": -1.7244518995285034,
                        "yaw": -179.62933349609375
                    }
                },
                "velocity": {
                    "x": -4.53377103805542,
                    "y": -0.035305533558130264,
                    "z": -0.13844412565231323
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.777587890625,
                        "y": 2575.692138671875,
                        "z": 365.0699768066406
                    },
                    "rotation": {
                        "roll": -1.3340490490065804e-08,
                        "pitch": 0.36938345432281494,
                        "yaw": -89.93964385986328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00035909024882130325,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.0033161931205540895,
                        "pitch": 0.2176986038684845,
                        "yaw": -179.82489013671875
                    }
                },
                "velocity": {
                    "x": 5.081444669485791e-06,
                    "y": -2.2506284949486144e-05,
                    "z": -0.00035834821755997837
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0007857282180339098,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0006936169811524451,
                        "pitch": 0.21961788833141327,
                        "yaw": 179.87429809570312
                    }
                },
                "velocity": {
                    "x": 3.945238859159872e-05,
                    "y": 1.224755760631524e-05,
                    "z": -0.0007846415392123163
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48764,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.291345119476318,
                "transform": {
                    "location": {
                        "x": 2188.01123046875,
                        "y": 2445.97265625,
                        "z": 364.6191711425781
                    },
                    "rotation": {
                        "roll": -0.003814714727923274,
                        "pitch": -0.5263616442680359,
                        "yaw": -89.6227035522461
                    }
                },
                "velocity": {
                    "x": 0.014038457535207272,
                    "y": -6.290910720825195,
                    "z": -0.07257533073425293
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.695199728012085,
                "transform": {
                    "location": {
                        "x": 2185.04052734375,
                        "y": 2470.80859375,
                        "z": 364.8764343261719
                    },
                    "rotation": {
                        "roll": 0.0014509998727589846,
                        "pitch": 0.4161838889122009,
                        "yaw": 90.03775787353516
                    }
                },
                "velocity": {
                    "x": -0.0026089586317539215,
                    "y": 1.6951371431350708,
                    "z": 0.014326314441859722
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.758744955062866,
                "transform": {
                    "location": {
                        "x": 2185.029296875,
                        "y": 2482.34423828125,
                        "z": 364.9691467285156
                    },
                    "rotation": {
                        "roll": 0.0003741983091458678,
                        "pitch": 0.3065798580646515,
                        "yaw": 90.05099487304688
                    }
                },
                "velocity": {
                    "x": -0.00454079220071435,
                    "y": 3.7586474418640137,
                    "z": 0.026686277240514755
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": 0.30117735266685486,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.18386152386665344,
        "expert_target_speed": 8.736943891187464,
        "target_point": [
            12.877038955203886,
            -0.2462849507951634
        ],
        "target_point_next": [
            21.806574078679386,
            8.678918814752425
        ]
    },
    "205": {
        "acceleration": [
            -0.004316479898989201,
            -3.8358306884765625,
            -0.015087500214576721
        ],
        "angular_velocity": [
            -1.7983978986740112,
            0.01592440716922283,
            0.04827858880162239
        ],
        "forward_vector": [
            -0.0001823113125283271,
            0.9999812841415405,
            0.006119212601333857
        ],
        "right_vector": [
            -1.0,
            -0.00018263087258674204,
            5.16644176968839e-05
        ],
        "location": [
            2184.84033203125,
            2504.813720703125,
            365.0960388183594
        ],
        "rotation": [
            -0.002960208570584655,
            0.3506072461605072,
            90.01044464111328
        ],
        "velocity": [
            -0.002218940993770957,
            8.296477317810059,
            0.04313939809799194
        ],
        "speed": 8.296477614544376,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 46.6188850402832,
        "front_vehicle_info": {
            "id": 48775,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2144.034912109375,
                2527.35546875,
                364.76776123046875
            ],
            "velocity": [
                8.48840618133545,
                0.02205735817551613,
                -0.03276098519563675
            ],
            "speed_kmh": 30.55859301470877,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 48777,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.407103538513184,
                "transform": {
                    "location": {
                        "x": 2187.8525390625,
                        "y": 2558.91796875,
                        "z": 365.13201904296875
                    },
                    "rotation": {
                        "roll": 0.013104825280606747,
                        "pitch": 0.055085472762584686,
                        "yaw": -89.51486206054688
                    }
                },
                "velocity": {
                    "x": 0.038290660828351974,
                    "y": -5.406939506530762,
                    "z": 0.01758251152932644
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.7872008085250854,
                "transform": {
                    "location": {
                        "x": 2185.061767578125,
                        "y": 2456.12744140625,
                        "z": 364.7325744628906
                    },
                    "rotation": {
                        "roll": 0.00955488346517086,
                        "pitch": 0.8161870837211609,
                        "yaw": 89.88414764404297
                    }
                },
                "velocity": {
                    "x": -0.00022210257884580642,
                    "y": 1.7871015071868896,
                    "z": 0.01883411407470703
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48775,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.48849868774414,
                "transform": {
                    "location": {
                        "x": 2144.034912109375,
                        "y": 2527.35546875,
                        "z": 364.76776123046875
                    },
                    "rotation": {
                        "roll": 0.02532930113375187,
                        "pitch": 0.33950820565223694,
                        "yaw": 0.23179911077022552
                    }
                },
                "velocity": {
                    "x": 8.48840618133545,
                    "y": 0.02205735817551613,
                    "z": -0.03276098519563675
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.240212917327881,
                "transform": {
                    "location": {
                        "x": 2232.25,
                        "y": 2524.298095703125,
                        "z": 366.4123840332031
                    },
                    "rotation": {
                        "roll": -0.01651000790297985,
                        "pitch": -1.7258862257003784,
                        "yaw": -179.57444763183594
                    }
                },
                "velocity": {
                    "x": -5.237608909606934,
                    "y": -0.04161284863948822,
                    "z": -0.15984386205673218
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.779052734375,
                        "y": 2574.47509765625,
                        "z": 365.07330322265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3167431652545929,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.2898437237017788e-05,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.0033161931205540895,
                        "pitch": 0.2176986038684845,
                        "yaw": -179.82489013671875
                    }
                },
                "velocity": {
                    "x": 3.987588115705876e-06,
                    "y": 2.0558451069518924e-05,
                    "z": -9.262162166123744e-06
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0007460291380994022,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.001292246743105352,
                        "pitch": 0.21987061202526093,
                        "yaw": 179.8743133544922
                    }
                },
                "velocity": {
                    "x": 3.1747294997330755e-06,
                    "y": 2.240788126073312e-05,
                    "z": -0.0007456857711076736
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48764,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.891665458679199,
                "transform": {
                    "location": {
                        "x": 2188.014404296875,
                        "y": 2444.483642578125,
                        "z": 364.6023864746094
                    },
                    "rotation": {
                        "roll": -0.0021972800604999065,
                        "pitch": -0.5995198488235474,
                        "yaw": -89.76426696777344
                    }
                },
                "velocity": {
                    "x": 0.006660046987235546,
                    "y": -5.891257286071777,
                    "z": -0.06901717185974121
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.0619497299194336,
                "transform": {
                    "location": {
                        "x": 2185.04052734375,
                        "y": 2471.3154296875,
                        "z": 364.8806457519531
                    },
                    "rotation": {
                        "roll": 0.0014557662652805448,
                        "pitch": 0.43691352009773254,
                        "yaw": 90.05047607421875
                    }
                },
                "velocity": {
                    "x": -0.0023954976350069046,
                    "y": 2.061879873275757,
                    "z": 0.016797294840216637
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.859274387359619,
                "transform": {
                    "location": {
                        "x": 2185.02783203125,
                        "y": 2483.428466796875,
                        "z": 364.9769592285156
                    },
                    "rotation": {
                        "roll": 3.715298589668237e-05,
                        "pitch": 0.2962799370288849,
                        "yaw": 90.05777740478516
                    }
                },
                "velocity": {
                    "x": -0.0066194054670631886,
                    "y": 4.859151840209961,
                    "z": 0.03386165574193001
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": 0.28624388575553894,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.21462364494800568,
        "expert_target_speed": 8.09291099077443,
        "target_point": [
            10.717773415580234,
            -0.25073335885254905
        ],
        "target_point_next": [
            19.65039138307666,
            8.67138500085819
        ]
    },
    "210": {
        "acceleration": [
            0.029178084805607796,
            -3.9504623413085938,
            -0.015799328684806824
        ],
        "angular_velocity": [
            -1.1319693326950073,
            -0.04135579988360405,
            -0.056377798318862915
        ],
        "forward_vector": [
            -0.0002828081196639687,
            0.9999998211860657,
            -0.0005000829114578664
        ],
        "right_vector": [
            -0.9999999403953552,
            -0.0002828033466357738,
            9.587382919562515e-06
        ],
        "location": [
            2184.84033203125,
            2506.76123046875,
            365.10601806640625
        ],
        "rotation": [
            -0.0005493166390806437,
            -0.02865264192223549,
            90.01620483398438
        ],
        "velocity": [
            -0.0008135079406201839,
            7.309873580932617,
            0.028497017920017242
        ],
        "speed": 7.309873626199828,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 43.88841247558594,
        "front_vehicle_info": {
            "id": 48775,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2146.087646484375,
                2527.35986328125,
                364.76171875
            ],
            "velocity": [
                7.939229965209961,
                0.01098423171788454,
                -0.030563734471797943
            ],
            "speed_kmh": 28.581467019288212,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 48777,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.284465789794922,
                "transform": {
                    "location": {
                        "x": 2187.864013671875,
                        "y": 2557.22412109375,
                        "z": 365.13519287109375
                    },
                    "rotation": {
                        "roll": 0.009999431669712067,
                        "pitch": 0.6524810791015625,
                        "yaw": -89.58321380615234
                    }
                },
                "velocity": {
                    "x": 0.049274515360593796,
                    "y": -7.284268856048584,
                    "z": 0.02090216614305973
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.1015264987945557,
                "transform": {
                    "location": {
                        "x": 2185.061279296875,
                        "y": 2456.6640625,
                        "z": 364.7395324707031
                    },
                    "rotation": {
                        "roll": 0.006149654742330313,
                        "pitch": 0.6563196778297424,
                        "yaw": 89.86849212646484
                    }
                },
                "velocity": {
                    "x": 4.423546852194704e-05,
                    "y": 1.1014676094055176,
                    "z": 0.011388367973268032
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48775,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.939296722412109,
                "transform": {
                    "location": {
                        "x": 2146.087646484375,
                        "y": 2527.35986328125,
                        "z": 364.76171875
                    },
                    "rotation": {
                        "roll": 0.018387410789728165,
                        "pitch": -0.14977921545505524,
                        "yaw": 0.10437735915184021
                    }
                },
                "velocity": {
                    "x": 7.939229965209961,
                    "y": 0.01098423171788454,
                    "z": -0.030563734471797943
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.883061408996582,
                "transform": {
                    "location": {
                        "x": 2230.877197265625,
                        "y": 2524.2890625,
                        "z": 366.37017822265625
                    },
                    "rotation": {
                        "roll": -0.01620483212172985,
                        "pitch": -1.7424904108047485,
                        "yaw": -179.57861328125
                    }
                },
                "velocity": {
                    "x": -5.88011360168457,
                    "y": -0.027348700910806656,
                    "z": -0.18419784307479858
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.022037047892808914,
                "transform": {
                    "location": {
                        "x": 2187.779052734375,
                        "y": 2574.474853515625,
                        "z": 365.0679626464844
                    },
                    "rotation": {
                        "roll": 4.0048023947747424e-05,
                        "pitch": 0.3404166102409363,
                        "yaw": -89.93965911865234
                    }
                },
                "velocity": {
                    "x": -1.4725820619787555e-05,
                    "y": 6.895962724229321e-05,
                    "z": -0.02203693427145481
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00023509484890382737,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.0033161931205540895,
                        "pitch": 0.2176986038684845,
                        "yaw": -179.82489013671875
                    }
                },
                "velocity": {
                    "x": 4.894472567684716e-06,
                    "y": -6.2669114413438365e-06,
                    "z": -0.00023496033099945635
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00017103977734223008,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.001292246743105352,
                        "pitch": 0.21987061202526093,
                        "yaw": 179.8743133544922
                    }
                },
                "velocity": {
                    "x": -2.0298473828006536e-05,
                    "y": 8.279109169961885e-05,
                    "z": 0.00014828421990387142
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48764,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.351733207702637,
                "transform": {
                    "location": {
                        "x": 2188.016845703125,
                        "y": 2442.952392578125,
                        "z": 364.5851745605469
                    },
                    "rotation": {
                        "roll": -9.16009012144059e-05,
                        "pitch": -0.7085500955581665,
                        "yaw": -89.82341766357422
                    }
                },
                "velocity": {
                    "x": 0.010262827388942242,
                    "y": -6.351273059844971,
                    "z": -0.07576794177293777
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8031500577926636,
                "transform": {
                    "location": {
                        "x": 2185.04052734375,
                        "y": 2471.77001953125,
                        "z": 364.8840026855469
                    },
                    "rotation": {
                        "roll": 0.0006080971797928214,
                        "pitch": 0.5045529007911682,
                        "yaw": 90.05614471435547
                    }
                },
                "velocity": {
                    "x": -0.0014369540149345994,
                    "y": 1.8030850887298584,
                    "z": 0.015229749493300915
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.270680904388428,
                "transform": {
                    "location": {
                        "x": 2185.025634765625,
                        "y": 2484.7255859375,
                        "z": 364.9859924316406
                    },
                    "rotation": {
                        "roll": 0.00017957600357476622,
                        "pitch": 0.35249921679496765,
                        "yaw": 90.05205535888672
                    }
                },
                "velocity": {
                    "x": -0.005949897691607475,
                    "y": 5.270545959472656,
                    "z": 0.0372304730117321
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.23535758256912231,
        "expert_target_speed": 7.052599523477323,
        "target_point": [
            8.770176506174208,
            -0.2537630235862149
        ],
        "target_point_next": [
            17.705876251597026,
            8.66526886544625
        ]
    },
    "215": {
        "acceleration": [
            -0.009875739924609661,
            -26.69795036315918,
            -0.20072156190872192
        ],
        "angular_velocity": [
            -5.446218490600586,
            -0.022708937525749207,
            -0.12349612265825272
        ],
        "forward_vector": [
            0.000148243474541232,
            0.9999381303787231,
            -0.011123785749077797
        ],
        "right_vector": [
            -1.0,
            0.00014770729467272758,
            -4.9022022722056136e-05
        ],
        "location": [
            2184.84033203125,
            2508.31201171875,
            365.1141052246094
        ],
        "rotation": [
            0.002808928955346346,
            -0.637359082698822,
            89.99150848388672
        ],
        "velocity": [
            0.0011573976371437311,
            4.295810222625732,
            0.010109013877809048
        ],
        "speed": 4.29581037854152,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 41.43527603149414,
        "front_vehicle_info": {
            "id": 48775,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2148.045654296875,
                2527.362060546875,
                364.7545166015625
            ],
            "velocity": [
                7.925326347351074,
                0.008431623689830303,
                -0.029371876269578934
            ],
            "speed_kmh": 28.53138693417976,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 48777,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.607728004455566,
                "transform": {
                    "location": {
                        "x": 2187.875244140625,
                        "y": 2555.500244140625,
                        "z": 365.1416015625
                    },
                    "rotation": {
                        "roll": 0.012682653032243252,
                        "pitch": 0.15533214807510376,
                        "yaw": -89.62865447998047
                    }
                },
                "velocity": {
                    "x": 0.03280409425497055,
                    "y": -6.607622146606445,
                    "z": 0.018036184832453728
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.9732394218444824,
                "transform": {
                    "location": {
                        "x": 2185.061279296875,
                        "y": 2456.769775390625,
                        "z": 364.74310302734375
                    },
                    "rotation": {
                        "roll": 0.0009276953642256558,
                        "pitch": 0.34680965542793274,
                        "yaw": 89.90184783935547
                    }
                },
                "velocity": {
                    "x": -0.0005424619885161519,
                    "y": 0.9731907248497009,
                    "z": 0.009723472408950329
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48775,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.925385475158691,
                "transform": {
                    "location": {
                        "x": 2148.045654296875,
                        "y": 2527.362060546875,
                        "z": 364.7545166015625
                    },
                    "rotation": {
                        "roll": 0.009608393535017967,
                        "pitch": -0.23364026844501495,
                        "yaw": 0.0703064575791359
                    }
                },
                "velocity": {
                    "x": 7.925326347351074,
                    "y": 0.008431623689830303,
                    "z": -0.029371876269578934
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.045114517211914,
                "transform": {
                    "location": {
                        "x": 2229.255126953125,
                        "y": 2524.28173828125,
                        "z": 366.3195495605469
                    },
                    "rotation": {
                        "roll": -0.01123046688735485,
                        "pitch": -1.759217619895935,
                        "yaw": -179.7029571533203
                    }
                },
                "velocity": {
                    "x": -7.041646957397461,
                    "y": -0.023457758128643036,
                    "z": -0.21976147592067719
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0014351578429341316,
                "transform": {
                    "location": {
                        "x": 2187.779052734375,
                        "y": 2574.474853515625,
                        "z": 365.0653076171875
                    },
                    "rotation": {
                        "roll": 0.0009755346109159291,
                        "pitch": 0.35079848766326904,
                        "yaw": -89.93965148925781
                    }
                },
                "velocity": {
                    "x": 0.00010752721573226154,
                    "y": 8.194185284082778e-06,
                    "z": -0.0014311005361378193
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00032332874252460897,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.78143310546875
                    },
                    "rotation": {
                        "roll": 0.0022966463584452868,
                        "pitch": 0.2179376631975174,
                        "yaw": -179.8248748779297
                    }
                },
                "velocity": {
                    "x": 9.993985258915927e-06,
                    "y": 6.956741799513111e-06,
                    "z": 0.00032309937523677945
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.476014899206348e-05,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0002488172031007707,
                        "pitch": 0.2193993180990219,
                        "yaw": 179.8743133544922
                    }
                },
                "velocity": {
                    "x": -3.2744777854532003e-05,
                    "y": -5.994919774821028e-06,
                    "z": 1.0005420335801318e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48764,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.5528717041015625,
                "transform": {
                    "location": {
                        "x": 2188.01904296875,
                        "y": 2441.197998046875,
                        "z": 364.5650634765625
                    },
                    "rotation": {
                        "roll": -0.002105719642713666,
                        "pitch": -0.8038312792778015,
                        "yaw": -89.85076141357422
                    }
                },
                "velocity": {
                    "x": 0.00871413853019476,
                    "y": -7.552321434020996,
                    "z": -0.0907248929142952
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.0510029792785645,
                "transform": {
                    "location": {
                        "x": 2185.04052734375,
                        "y": 2472.27978515625,
                        "z": 364.8887023925781
                    },
                    "rotation": {
                        "roll": 0.0011601295555010438,
                        "pitch": 0.46379029750823975,
                        "yaw": 90.06262969970703
                    }
                },
                "velocity": {
                    "x": -0.002962136873975396,
                    "y": 2.050929307937622,
                    "z": 0.017126092687249184
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.2837300300598145,
                "transform": {
                    "location": {
                        "x": 2185.023681640625,
                        "y": 2486.072265625,
                        "z": 364.9945983886719
                    },
                    "rotation": {
                        "roll": 0.000910997565370053,
                        "pitch": 0.3899901211261749,
                        "yaw": 90.03777313232422
                    }
                },
                "velocity": {
                    "x": -0.0065252105705440044,
                    "y": 5.283604621887207,
                    "z": 0.03581652417778969
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.2644934356212616,
        "expert_target_speed": 4.73460957992236,
        "target_point": [
            16.152100367451673,
            8.671385306688517
        ],
        "target_point_next": [
            16.213626252789517,
            36.67138530130986
        ]
    },
    "220": {
        "acceleration": [
            -0.0028304383158683777,
            -0.1845620721578598,
            -8.09086486697197e-06
        ],
        "angular_velocity": [
            3.3438782691955566,
            0.004671147558838129,
            -0.004388956818729639
        ],
        "forward_vector": [
            0.00032289454247802496,
            0.9996318221092224,
            -0.02713049203157425
        ],
        "right_vector": [
            -0.9999999403953552,
            0.00032246601767838,
            -2.0170584321022034e-05
        ],
        "location": [
            2184.84033203125,
            2508.63330078125,
            365.1181640625
        ],
        "rotation": [
            0.001156114973127842,
            -1.5546534061431885,
            89.98149108886719
        ],
        "velocity": [
            -2.3371325369225815e-05,
            -0.009747680276632309,
            -0.0017120979027822614
        ],
        "speed": 0.00974770829448112,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 39.52126693725586,
        "front_vehicle_info": {
            "id": 48775,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2150.04052734375,
                2527.362060546875,
                364.7469787597656
            ],
            "velocity": [
                7.824882507324219,
                -0.004991734400391579,
                -0.02920200303196907
            ],
            "speed_kmh": 28.169778921826357,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 48777,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.130767345428467,
                "transform": {
                    "location": {
                        "x": 2187.8818359375,
                        "y": 2554.042724609375,
                        "z": 365.14691162109375
                    },
                    "rotation": {
                        "roll": 0.012983297929167747,
                        "pitch": -0.28647178411483765,
                        "yaw": -89.70535278320312
                    }
                },
                "velocity": {
                    "x": 0.018622737377882004,
                    "y": -5.130717754364014,
                    "z": 0.012748355977237225
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.0478057861328125,
                "transform": {
                    "location": {
                        "x": 2185.062255859375,
                        "y": 2457.14990234375,
                        "z": 364.7428283691406
                    },
                    "rotation": {
                        "roll": -0.0032348742242902517,
                        "pitch": 0.877870500087738,
                        "yaw": 89.98836517333984
                    }
                },
                "velocity": {
                    "x": -0.003776433877646923,
                    "y": 2.047684669494629,
                    "z": 0.021931294351816177
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48775,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.824938774108887,
                "transform": {
                    "location": {
                        "x": 2150.04052734375,
                        "y": 2527.362060546875,
                        "z": 364.7469787597656
                    },
                    "rotation": {
                        "roll": 0.013398920185863972,
                        "pitch": -0.23309385776519775,
                        "yaw": -0.007476805709302425
                    }
                },
                "velocity": {
                    "x": 7.824882507324219,
                    "y": -0.004991734400391579,
                    "z": -0.02920200303196907
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.789658069610596,
                "transform": {
                    "location": {
                        "x": 2227.373779296875,
                        "y": 2524.275146484375,
                        "z": 366.2615661621094
                    },
                    "rotation": {
                        "roll": -0.00787353329360485,
                        "pitch": -1.7563762664794922,
                        "yaw": -179.81983947753906
                    }
                },
                "velocity": {
                    "x": -7.78590726852417,
                    "y": -0.01987745799124241,
                    "z": -0.24087704718112946
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.08354172855615616,
                "transform": {
                    "location": {
                        "x": 2187.779052734375,
                        "y": 2574.467529296875,
                        "z": 365.06573486328125
                    },
                    "rotation": {
                        "roll": 0.0002827514836098999,
                        "pitch": 0.36334556341171265,
                        "yaw": -89.93716430664062
                    }
                },
                "velocity": {
                    "x": 0.0013242108980193734,
                    "y": -0.08341553807258606,
                    "z": 0.004394912626594305
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.516156281577423e-05,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.002685314044356346,
                        "pitch": 0.21765762567520142,
                        "yaw": -179.8248291015625
                    }
                },
                "velocity": {
                    "x": 6.2197445913625415e-06,
                    "y": -9.698938896463005e-08,
                    "z": -6.486396887339652e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0003136228770017624,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0010366059141233563,
                        "pitch": 0.21964521706104279,
                        "yaw": 179.8743133544922
                    }
                },
                "velocity": {
                    "x": -1.9273980797152035e-05,
                    "y": -5.252300252323039e-05,
                    "z": -0.00030859222169965506
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48764,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.818689346313477,
                "transform": {
                    "location": {
                        "x": 2188.021484375,
                        "y": 2439.388427734375,
                        "z": 364.5421142578125
                    },
                    "rotation": {
                        "roll": -6.0995247622486204e-05,
                        "pitch": -0.6390666365623474,
                        "yaw": -89.90084838867188
                    }
                },
                "velocity": {
                    "x": 0.00849749706685543,
                    "y": -6.818196773529053,
                    "z": -0.0814879760146141
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7797576189041138,
                "transform": {
                    "location": {
                        "x": 2185.040771484375,
                        "y": 2472.730224609375,
                        "z": 364.8922119140625
                    },
                    "rotation": {
                        "roll": 0.0011981319403275847,
                        "pitch": 0.5096687078475952,
                        "yaw": 90.0654067993164
                    }
                },
                "velocity": {
                    "x": -0.0020248719956725836,
                    "y": 1.7796999216079712,
                    "z": 0.014184149913489819
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.4061279296875,
                "transform": {
                    "location": {
                        "x": 2185.021728515625,
                        "y": 2487.295654296875,
                        "z": 365.0019836425781
                    },
                    "rotation": {
                        "roll": 0.0001380085595883429,
                        "pitch": 0.43966609239578247,
                        "yaw": 90.05046844482422
                    }
                },
                "velocity": {
                    "x": -0.005294846370816231,
                    "y": 4.406026363372803,
                    "z": 0.02945570833981037
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.2406664490699768,
        "expert_target_speed": 0.8768452189976566,
        "target_point": [
            15.830811304951673,
            8.671385334776499
        ],
        "target_point_next": [
            15.892337190289515,
            36.67138532939784
        ]
    },
    "225": {
        "acceleration": [
            -0.0024144775234162807,
            0.028768926858901978,
            0.01457543857395649
        ],
        "angular_velocity": [
            3.0958755016326904,
            0.036216821521520615,
            -0.0015544246416538954
        ],
        "forward_vector": [
            0.00033408351009711623,
            0.9999507665634155,
            -0.00991685688495636
        ],
        "right_vector": [
            -0.9999999403953552,
            0.00033418970997445285,
            9.05431716091698e-06
        ],
        "location": [
            2184.84033203125,
            2508.639892578125,
            365.1142883300781
        ],
        "rotation": [
            -0.0005187997012399137,
            -0.5682033896446228,
            89.9808578491211
        ],
        "velocity": [
            0.0002111117064487189,
            -0.00962065439671278,
            0.0016585298581048846
        ],
        "speed": 0.00962297039243022,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 37.88969802856445,
        "front_vehicle_info": {
            "id": 48775,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2151.90087890625,
                2527.361083984375,
                364.7420349121094
            ],
            "velocity": [
                7.128968238830566,
                -0.005237099248915911,
                -0.015078792348504066
            ],
            "speed_kmh": 25.664349993694582,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 48777,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.08167028427124,
                "transform": {
                    "location": {
                        "x": 2187.886474609375,
                        "y": 2552.773193359375,
                        "z": 365.1490173339844
                    },
                    "rotation": {
                        "roll": 0.0056665507145226,
                        "pitch": -0.079196035861969,
                        "yaw": -89.69729614257812
                    }
                },
                "velocity": {
                    "x": 0.019980497658252716,
                    "y": -5.081615447998047,
                    "z": 0.012626733630895615
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": 2135.974853515625,
                        "y": 2527.302490234375,
                        "z": 365.1510925292969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2181084156036377,
                        "yaw": -0.125946044921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.6653027534484863,
                "transform": {
                    "location": {
                        "x": 2185.060791015625,
                        "y": 2457.872314453125,
                        "z": 364.74908447265625
                    },
                    "rotation": {
                        "roll": -0.0014953571371734142,
                        "pitch": 1.0253616571426392,
                        "yaw": 90.01686096191406
                    }
                },
                "velocity": {
                    "x": -0.006779814604669809,
                    "y": 3.6651065349578857,
                    "z": 0.037300337105989456
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48775,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.128986358642578,
                "transform": {
                    "location": {
                        "x": 2151.90087890625,
                        "y": 2527.361083984375,
                        "z": 364.7420349121094
                    },
                    "rotation": {
                        "roll": 0.006570486351847649,
                        "pitch": -0.353605717420578,
                        "yaw": -0.0399169921875
                    }
                },
                "velocity": {
                    "x": 7.128968238830566,
                    "y": -0.005237099248915911,
                    "z": -0.015078792348504066
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.72791862487793,
                "transform": {
                    "location": {
                        "x": 2225.214111328125,
                        "y": 2524.2705078125,
                        "z": 366.1947326660156
                    },
                    "rotation": {
                        "roll": -0.003967284690588713,
                        "pitch": -1.7193907499313354,
                        "yaw": -179.92477416992188
                    }
                },
                "velocity": {
                    "x": -8.723823547363281,
                    "y": -0.007565294858068228,
                    "z": -0.26721158623695374
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.8600605130195618,
                "transform": {
                    "location": {
                        "x": 2187.780029296875,
                        "y": 2574.37890625,
                        "z": 365.06597900390625
                    },
                    "rotation": {
                        "roll": -0.005462667439132929,
                        "pitch": 0.4866577684879303,
                        "yaw": -89.9453125
                    }
                },
                "velocity": {
                    "x": 0.010046092793345451,
                    "y": -0.8599807024002075,
                    "z": 0.006033840123564005
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.361437696497887e-05,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.78143310546875
                    },
                    "rotation": {
                        "roll": 0.0024947558995336294,
                        "pitch": 0.21778739988803864,
                        "yaw": -179.8248291015625
                    }
                },
                "velocity": {
                    "x": 3.60220656148158e-06,
                    "y": -6.1820664996048436e-06,
                    "z": -9.334054630016908e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0007079745410010219,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0010366059141233563,
                        "pitch": 0.21964521706104279,
                        "yaw": 179.8743133544922
                    }
                },
                "velocity": {
                    "x": -2.5234445274691097e-05,
                    "y": -3.8643400330329314e-05,
                    "z": -0.0007064685923978686
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48764,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.99609375,
                        "y": 2437.81591796875,
                        "z": 364.5219421386719
                    },
                    "rotation": {
                        "roll": 2.668248022530406e-08,
                        "pitch": -0.7111182808876038,
                        "yaw": -89.93964385986328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.5032958984375,
                "transform": {
                    "location": {
                        "x": 2185.04052734375,
                        "y": 2473.2626953125,
                        "z": 364.8972473144531
                    },
                    "rotation": {
                        "roll": 0.0002480415569152683,
                        "pitch": 0.42978963255882263,
                        "yaw": 90.0765609741211
                    }
                },
                "velocity": {
                    "x": -0.004407279659062624,
                    "y": 2.503201484680176,
                    "z": 0.021279582753777504
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.121244192123413,
                "transform": {
                    "location": {
                        "x": 2185.0205078125,
                        "y": 2488.22412109375,
                        "z": 365.00775146484375
                    },
                    "rotation": {
                        "roll": 0.0011294762371107936,
                        "pitch": 0.4853259027004242,
                        "yaw": 90.05979919433594
                    }
                },
                "velocity": {
                    "x": -0.00418954249471426,
                    "y": 3.1211726665496826,
                    "z": 0.020685987547039986
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.24258069694042206,
        "expert_target_speed": 0.8756219851334697,
        "target_point": [
            15.821222873169997,
            8.676851587496929
        ],
        "target_point_next": [
            15.87307563643929,
            36.676871166495495
        ]
    },
    "230": {
        "acceleration": [
            0.0029922807589173317,
            -0.06010819226503372,
            0.005892752669751644
        ],
        "angular_velocity": [
            1.2152796983718872,
            -0.018626170232892036,
            -0.020075734704732895
        ],
        "forward_vector": [
            0.0003234900941606611,
            0.9999993443489075,
            -0.0010875461157411337
        ],
        "right_vector": [
            -0.9999999403953552,
            0.0003234866017010063,
            -3.3997346235992154e-06
        ],
        "location": [
            2184.84033203125,
            2508.64404296875,
            365.11248779296875
        ],
        "rotation": [
            0.0001947905693668872,
            -0.0623118132352829,
            89.9814682006836
        ],
        "velocity": [
            -0.0003143248613923788,
            0.016342613846063614,
            0.001874046283774078
        ],
        "speed": 0.016345636342462763,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 36.37394714355469,
        "front_vehicle_info": {
            "id": 48775,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2153.65283203125,
                2527.359375,
                364.7380676269531
            ],
            "velocity": [
                6.948236465454102,
                -0.009743324480950832,
                -0.010851048864424229
            ],
            "speed_kmh": 25.013706371531462,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 48777,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.251813888549805,
                "transform": {
                    "location": {
                        "x": 2187.8916015625,
                        "y": 2551.39501953125,
                        "z": 365.150146484375
                    },
                    "rotation": {
                        "roll": 0.00475873751565814,
                        "pitch": 0.3655721843242645,
                        "yaw": -89.71931457519531
                    }
                },
                "velocity": {
                    "x": 0.02358914725482464,
                    "y": -6.251761436462402,
                    "z": 0.00983254425227642
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.2672112286090851,
                "transform": {
                    "location": {
                        "x": 2135.974365234375,
                        "y": 2527.302490234375,
                        "z": 364.802490234375
                    },
                    "rotation": {
                        "roll": -0.00042724606464616954,
                        "pitch": -0.2190578132867813,
                        "yaw": -0.125946044921875
                    }
                },
                "velocity": {
                    "x": -0.001007142011076212,
                    "y": 0.00016548029088880867,
                    "z": -0.2672092616558075
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.3952078819274902,
                "transform": {
                    "location": {
                        "x": 2185.05908203125,
                        "y": 2458.77490234375,
                        "z": 364.7613220214844
                    },
                    "rotation": {
                        "roll": -9.157300519291312e-05,
                        "pitch": 0.6441892385482788,
                        "yaw": 90.04774475097656
                    }
                },
                "velocity": {
                    "x": -0.00643747067078948,
                    "y": 3.3950297832489014,
                    "z": 0.03417773172259331
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48775,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.948251724243164,
                "transform": {
                    "location": {
                        "x": 2153.65283203125,
                        "y": 2527.359375,
                        "z": 364.7380676269531
                    },
                    "rotation": {
                        "roll": 0.006369334179908037,
                        "pitch": -0.19052128493785858,
                        "yaw": -0.0588684044778347
                    }
                },
                "velocity": {
                    "x": 6.948236465454102,
                    "y": -0.009743324480950832,
                    "z": -0.010851048864424229
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.974433898925781,
                "transform": {
                    "location": {
                        "x": 2223.135498046875,
                        "y": 2524.268798828125,
                        "z": 366.1316833496094
                    },
                    "rotation": {
                        "roll": -0.0028991696890443563,
                        "pitch": -1.7694082260131836,
                        "yaw": 179.98033142089844
                    }
                },
                "velocity": {
                    "x": -7.9707255363464355,
                    "y": 0.00132397108245641,
                    "z": -0.2431696504354477
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.7665635347366333,
                "transform": {
                    "location": {
                        "x": 2187.782958984375,
                        "y": 2574.055908203125,
                        "z": 365.067138671875
                    },
                    "rotation": {
                        "roll": -0.006134037394076586,
                        "pitch": 0.5801016092300415,
                        "yaw": -89.84588623046875
                    }
                },
                "velocity": {
                    "x": 0.02150852419435978,
                    "y": -1.7664120197296143,
                    "z": 0.008521108888089657
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.470000147819519,
                "transform": {
                    "location": {
                        "x": 2185.16748046875,
                        "y": 2443.19091796875,
                        "z": 364.8669738769531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6687096357345581,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": -2.890931417864895e-12,
                    "y": 2.742815086165251e-09,
                    "z": -1.470000147819519
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00010011644189944491,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.78143310546875
                    },
                    "rotation": {
                        "roll": 0.0024947558995336294,
                        "pitch": 0.21778739988803864,
                        "yaw": -179.8248291015625
                    }
                },
                "velocity": {
                    "x": 4.6377999751712196e-06,
                    "y": 3.7479679804164334e-07,
                    "z": -0.00010000826296163723
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00046036308049224317,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0010366059141233563,
                        "pitch": 0.21964521706104279,
                        "yaw": 179.8743133544922
                    }
                },
                "velocity": {
                    "x": 2.968169610539917e-05,
                    "y": -7.322292367462069e-05,
                    "z": -0.0004535323241725564
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48764,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.931396484375,
                        "y": 2436.347900390625,
                        "z": 364.5022888183594
                    },
                    "rotation": {
                        "roll": 2.668248022530406e-08,
                        "pitch": -0.7111182808876038,
                        "yaw": -89.93964385986328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.4892213344573975,
                "transform": {
                    "location": {
                        "x": 2185.0390625,
                        "y": 2474.01220703125,
                        "z": 364.9039306640625
                    },
                    "rotation": {
                        "roll": 0.0008551678038202226,
                        "pitch": 0.3934462070465088,
                        "yaw": 90.0790786743164
                    }
                },
                "velocity": {
                    "x": -0.006263933144509792,
                    "y": 3.489093780517578,
                    "z": 0.029158391058444977
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.360746145248413,
                "transform": {
                    "location": {
                        "x": 2185.0205078125,
                        "y": 2488.88427734375,
                        "z": 365.0122985839844
                    },
                    "rotation": {
                        "roll": 0.00026908048312179744,
                        "pitch": 0.45221996307373047,
                        "yaw": 90.05034637451172
                    }
                },
                "velocity": {
                    "x": -0.0023845599498599768,
                    "y": 2.360684394836426,
                    "z": 0.016904916614294052
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.24958622455596924,
        "expert_target_speed": 0.8813064610073817,
        "target_point": [
            15.817072482792545,
            8.676850154030484
        ],
        "target_point_next": [
            15.868925246061837,
            36.67686973302905
        ]
    },
    "235": {
        "acceleration": [
            0.04322514683008194,
            2.066195011138916,
            -0.002549169585108757
        ],
        "angular_velocity": [
            0.9939439296722412,
            -0.054312463849782944,
            -0.4441105127334595
        ],
        "forward_vector": [
            0.000935262767598033,
            0.9999894499778748,
            0.004496796987950802
        ],
        "right_vector": [
            -0.9999995827674866,
            0.000935365620534867,
            -2.076499913528096e-05
        ],
        "location": [
            2184.84033203125,
            2508.72705078125,
            365.1117248535156
        ],
        "rotation": [
            0.0011897588847205043,
            0.25764837861061096,
            89.9464111328125
        ],
        "velocity": [
            0.0020100309047847986,
            0.626465916633606,
            0.002022714586928487
        ],
        "speed": 0.6264691412414679,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 34.87317657470703,
        "front_vehicle_info": {
            "id": 48775,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2155.36279296875,
                2527.35693359375,
                364.7366638183594
            ],
            "velocity": [
                6.670815467834473,
                -0.01072981208562851,
                -0.0052741337567567825
            ],
            "speed_kmh": 24.014974255415122,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 48777,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.732335567474365,
                "transform": {
                    "location": {
                        "x": 2187.896240234375,
                        "y": 2549.88037109375,
                        "z": 365.15362548828125
                    },
                    "rotation": {
                        "roll": 0.006483410019427538,
                        "pitch": 0.11720603704452515,
                        "yaw": -89.77462768554688
                    }
                },
                "velocity": {
                    "x": 0.016366012394428253,
                    "y": -5.732303142547607,
                    "z": 0.010181560181081295
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.10930512100458145,
                "transform": {
                    "location": {
                        "x": 2135.974365234375,
                        "y": 2527.302490234375,
                        "z": 364.8214416503906
                    },
                    "rotation": {
                        "roll": -3.051760359085165e-05,
                        "pitch": -0.219030499458313,
                        "yaw": -0.1259765475988388
                    }
                },
                "velocity": {
                    "x": 0.0004201349220238626,
                    "y": -3.6945199099136516e-05,
                    "z": 0.10930430889129639
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.25684928894043,
                "transform": {
                    "location": {
                        "x": 2185.057373046875,
                        "y": 2459.68505859375,
                        "z": 364.77081298828125
                    },
                    "rotation": {
                        "roll": -0.00045780936488881707,
                        "pitch": 0.6177632808685303,
                        "yaw": 90.07684326171875
                    }
                },
                "velocity": {
                    "x": -0.00843143928796053,
                    "y": 4.256622791290283,
                    "z": 0.043095484375953674
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48775,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.670825958251953,
                "transform": {
                    "location": {
                        "x": 2155.36279296875,
                        "y": 2527.35693359375,
                        "z": 364.7366638183594
                    },
                    "rotation": {
                        "roll": 0.0035565870348364115,
                        "pitch": -0.15643180906772614,
                        "yaw": -0.0794067308306694
                    }
                },
                "velocity": {
                    "x": 6.670815467834473,
                    "y": -0.01072981208562851,
                    "z": -0.0052741337567567825
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.156201362609863,
                "transform": {
                    "location": {
                        "x": 2221.20068359375,
                        "y": 2524.26953125,
                        "z": 366.07269287109375
                    },
                    "rotation": {
                        "roll": -0.00042724618106149137,
                        "pitch": -1.7709996700286865,
                        "yaw": 179.9329833984375
                    }
                },
                "velocity": {
                    "x": -7.15297794342041,
                    "y": 0.0072563448920845985,
                    "z": -0.21464695036411285
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.244760751724243,
                "transform": {
                    "location": {
                        "x": 2187.789306640625,
                        "y": 2573.432861328125,
                        "z": 365.0699157714844
                    },
                    "rotation": {
                        "roll": -0.006896944250911474,
                        "pitch": 0.6765097379684448,
                        "yaw": -89.69733428955078
                    }
                },
                "velocity": {
                    "x": 0.03951813280582428,
                    "y": -3.2444639205932617,
                    "z": 0.01905220001935959
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.05421220138669014,
                "transform": {
                    "location": {
                        "x": 2185.16748046875,
                        "y": 2443.1923828125,
                        "z": 364.52587890625
                    },
                    "rotation": {
                        "roll": 0.00019531451107468456,
                        "pitch": 0.6810312867164612,
                        "yaw": 90.06037139892578
                    }
                },
                "velocity": {
                    "x": -0.0002852056350093335,
                    "y": 0.0006150744738988578,
                    "z": -0.05420796200633049
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00021147953520994633,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.00298674707300961,
                        "pitch": 0.2176644504070282,
                        "yaw": -179.82479858398438
                    }
                },
                "velocity": {
                    "x": 8.287317541544326e-06,
                    "y": -1.6406407667091116e-05,
                    "z": -0.00021067923808004707
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.0590010535670444e-05,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0010366059141233563,
                        "pitch": 0.21964521706104279,
                        "yaw": 179.8743133544922
                    }
                },
                "velocity": {
                    "x": 5.107931883685524e-06,
                    "y": 3.995697170466883e-06,
                    "z": -1.9542057998478413e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48764,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.931396484375,
                        "y": 2434.947021484375,
                        "z": 364.48455810546875
                    },
                    "rotation": {
                        "roll": -2.668266141370168e-08,
                        "pitch": -0.7413896918296814,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.599198341369629,
                "transform": {
                    "location": {
                        "x": 2185.037109375,
                        "y": 2475.02880859375,
                        "z": 364.9123840332031
                    },
                    "rotation": {
                        "roll": 0.0004789765807799995,
                        "pitch": 0.36205464601516724,
                        "yaw": 90.08296966552734
                    }
                },
                "velocity": {
                    "x": -0.006588051561266184,
                    "y": 4.5990447998046875,
                    "z": 0.0370032861828804
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.2145028114318848,
                "transform": {
                    "location": {
                        "x": 2185.0205078125,
                        "y": 2489.459228515625,
                        "z": 365.0166015625
                    },
                    "rotation": {
                        "roll": 0.0004136630450375378,
                        "pitch": 0.3933027684688568,
                        "yaw": 90.06355285644531
                    }
                },
                "velocity": {
                    "x": -0.0021523251198232174,
                    "y": 2.2144603729248047,
                    "z": 0.013536930084228516
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 2236.935546875,
                        "y": 2524.330322265625,
                        "z": 366.9498291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.7185369729995728,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 4.004349907216209e-10,
                    "y": -8.802933425602899e-13,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.25620317459106445,
        "expert_target_speed": 1.4423877566236838,
        "target_point": [
            15.72858565253366,
            8.686749429621873
        ],
        "target_point_next": [
            15.7627677628851,
            36.6867961566667
        ]
    },
    "240": {
        "acceleration": [
            0.00272498931735754,
            3.245213031768799,
            -0.0013118749484419823
        ],
        "angular_velocity": [
            0.5984947085380554,
            -0.012098855338990688,
            -0.5830835103988647
        ],
        "forward_vector": [
            0.0003821315767709166,
            0.9999746084213257,
            0.007116376422345638
        ],
        "right_vector": [
            -0.9999999403953552,
            0.000381963123800233,
            2.503278483345639e-05
        ],
        "location": [
            2184.84033203125,
            2508.961669921875,
            365.1119079589844
        ],
        "rotation": [
            -0.001434309291653335,
            0.4077417850494385,
            89.97810363769531
        ],
        "velocity": [
            0.0012822039425373077,
            1.288278579711914,
            0.00261625275015831
        ],
        "speed": 1.2882792177907307,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 33.389671325683594,
        "front_vehicle_info": {
            "id": 48775,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2156.9755859375,
                2527.354248046875,
                364.73883056640625
            ],
            "velocity": [
                6.264875888824463,
                -0.010536913760006428,
                0.019002865999937057
            ],
            "speed_kmh": 22.553688851503452,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 48777,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.362850666046143,
                "transform": {
                    "location": {
                        "x": 2187.899658203125,
                        "y": 2548.59912109375,
                        "z": 365.1568298339844
                    },
                    "rotation": {
                        "roll": 0.004127207212150097,
                        "pitch": -0.2878105044364929,
                        "yaw": -89.95032501220703
                    }
                },
                "velocity": {
                    "x": 0.008796550333499908,
                    "y": -4.36284065246582,
                    "z": 0.0032598781399428844
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.3302100896835327,
                "transform": {
                    "location": {
                        "x": 2136.156005859375,
                        "y": 2527.303955078125,
                        "z": 364.8341369628906
                    },
                    "rotation": {
                        "roll": -0.005554200150072575,
                        "pitch": -0.11437834054231644,
                        "yaw": -0.024139404296875
                    }
                },
                "velocity": {
                    "x": 1.3299821615219116,
                    "y": 0.016051430255174637,
                    "z": 0.018673276528716087
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.382568359375,
                "transform": {
                    "location": {
                        "x": 2185.0556640625,
                        "y": 2460.9453125,
                        "z": 364.7817077636719
                    },
                    "rotation": {
                        "roll": 0.0004674964293371886,
                        "pitch": 0.881913959980011,
                        "yaw": 90.10065460205078
                    }
                },
                "velocity": {
                    "x": -0.01089894026517868,
                    "y": 5.382281303405762,
                    "z": 0.054519593715667725
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48775,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.264913558959961,
                "transform": {
                    "location": {
                        "x": 2156.9755859375,
                        "y": 2527.354248046875,
                        "z": 364.73883056640625
                    },
                    "rotation": {
                        "roll": 0.0017428837018087506,
                        "pitch": -0.06903272122144699,
                        "yaw": -0.0861816331744194
                    }
                },
                "velocity": {
                    "x": 6.264875888824463,
                    "y": -0.010536913760006428,
                    "z": 0.019002865999937057
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.110063552856445,
                "transform": {
                    "location": {
                        "x": 2219.596923828125,
                        "y": 2524.271240234375,
                        "z": 366.0252990722656
                    },
                    "rotation": {
                        "roll": -0.00048828125,
                        "pitch": -1.7207635641098022,
                        "yaw": 179.9054718017578
                    }
                },
                "velocity": {
                    "x": -6.107480525970459,
                    "y": 0.010530199855566025,
                    "z": -0.17732670903205872
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.244716644287109,
                "transform": {
                    "location": {
                        "x": 2187.80126953125,
                        "y": 2572.361572265625,
                        "z": 365.07525634765625
                    },
                    "rotation": {
                        "roll": -0.006622330751270056,
                        "pitch": 0.8024037480354309,
                        "yaw": -89.5096206665039
                    }
                },
                "velocity": {
                    "x": 0.0669236108660698,
                    "y": -5.2441911697387695,
                    "z": 0.032144833356142044
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.2776910364627838,
                "transform": {
                    "location": {
                        "x": 2185.16748046875,
                        "y": 2443.1962890625,
                        "z": 364.5570373535156
                    },
                    "rotation": {
                        "roll": -3.052459214814007e-05,
                        "pitch": 0.6858875751495361,
                        "yaw": 90.06036376953125
                    }
                },
                "velocity": {
                    "x": -0.0030887562315911055,
                    "y": 0.25524306297302246,
                    "z": 0.10933318734169006
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00037736233207397163,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.00298674707300961,
                        "pitch": 0.2176644504070282,
                        "yaw": -179.82479858398438
                    }
                },
                "velocity": {
                    "x": -1.0115653594766627e-06,
                    "y": 1.984479240491055e-05,
                    "z": -0.0003768388123717159
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0002175330591853708,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0010366059141233563,
                        "pitch": 0.21964521706104279,
                        "yaw": 179.8743133544922
                    }
                },
                "velocity": {
                    "x": 1.589581302141596e-07,
                    "y": -1.1356911272741854e-05,
                    "z": -0.00021723633108194917
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48764,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.931396484375,
                        "y": 2433.61181640625,
                        "z": 364.4675598144531
                    },
                    "rotation": {
                        "roll": -2.668266141370168e-08,
                        "pitch": -0.7413896918296814,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.18314790725708,
                "transform": {
                    "location": {
                        "x": 2185.03515625,
                        "y": 2476.29248046875,
                        "z": 364.9226989746094
                    },
                    "rotation": {
                        "roll": 0.0008784192032180727,
                        "pitch": 0.38251104950904846,
                        "yaw": 90.0844497680664
                    }
                },
                "velocity": {
                    "x": -0.008703161031007767,
                    "y": 5.182971000671387,
                    "z": 0.04196600988507271
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1017370223999023,
                "transform": {
                    "location": {
                        "x": 2185.0205078125,
                        "y": 2489.99560546875,
                        "z": 365.0201110839844
                    },
                    "rotation": {
                        "roll": -0.00033568721846677363,
                        "pitch": 0.3814660310745239,
                        "yaw": 90.05516052246094
                    }
                },
                "velocity": {
                    "x": -0.0022325243335217237,
                    "y": 2.101693868637085,
                    "z": 0.013281373307108879
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.20331609249115,
                "transform": {
                    "location": {
                        "x": 2236.9375,
                        "y": 2524.330322265625,
                        "z": 366.55810546875
                    },
                    "rotation": {
                        "roll": 0.000504194526001811,
                        "pitch": -1.7543271780014038,
                        "yaw": 179.87429809570312
                    }
                },
                "velocity": {
                    "x": 0.03574191406369209,
                    "y": 7.18211304047145e-05,
                    "z": -1.2027851343154907
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.24943068623542786,
        "expert_target_speed": 1.9976144719495008,
        "target_point": [
            15.499445548612103,
            8.676740451686733
        ],
        "target_point_next": [
            15.551298311881395,
            36.6767600306853
        ]
    },
    "245": {
        "acceleration": [
            0.0027959980070590973,
            2.4535131454467773,
            -0.014017671346664429
        ],
        "angular_velocity": [
            -0.045164357870817184,
            0.0007824451313354075,
            -0.059862170368433
        ],
        "forward_vector": [
            -2.9964290661155246e-05,
            0.9999681711196899,
            0.007980977185070515
        ],
        "right_vector": [
            -1.0,
            -3.0156534194247797e-05,
            2.396758645772934e-05
        ],
        "location": [
            2184.84033203125,
            2509.3740234375,
            365.1128845214844
        ],
        "rotation": [
            -0.0013732851948589087,
            0.4572811424732208,
            90.00171661376953
        ],
        "velocity": [
            0.0013618635712191463,
            1.9205753803253174,
            0.005718431435525417
        ],
        "speed": 1.9205758631681604,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 31.88312530517578,
        "front_vehicle_info": {
            "id": 48775,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2158.51171875,
                2527.351806640625,
                364.7425231933594
            ],
            "velocity": [
                6.041536808013916,
                -0.010177452117204666,
                0.01783362403512001
            ],
            "speed_kmh": 21.749658124476163,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 48777,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.781401634216309,
                "transform": {
                    "location": {
                        "x": 2187.901611328125,
                        "y": 2547.49462890625,
                        "z": 365.1573486328125
                    },
                    "rotation": {
                        "roll": 0.00341732962988317,
                        "pitch": -0.0412338487803936,
                        "yaw": -89.92720794677734
                    }
                },
                "velocity": {
                    "x": 0.008529954589903355,
                    "y": -4.78139066696167,
                    "z": 0.005613279063254595
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.3102872371673584,
                "transform": {
                    "location": {
                        "x": 2136.6220703125,
                        "y": 2527.30859375,
                        "z": 364.8349609375
                    },
                    "rotation": {
                        "roll": -0.0038146970327943563,
                        "pitch": -0.11166675388813019,
                        "yaw": 0.09712760895490646
                    }
                },
                "velocity": {
                    "x": 2.3100905418395996,
                    "y": 0.02975260280072689,
                    "z": -0.004827127326279879
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.836452484130859,
                "transform": {
                    "location": {
                        "x": 2185.052978515625,
                        "y": 2462.486572265625,
                        "z": 364.7969055175781
                    },
                    "rotation": {
                        "roll": 0.0006996720912866294,
                        "pitch": 0.8916264772415161,
                        "yaw": 90.16048431396484
                    }
                },
                "velocity": {
                    "x": -0.012734304182231426,
                    "y": 6.83612060546875,
                    "z": 0.06615418940782547
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48775,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.041571617126465,
                "transform": {
                    "location": {
                        "x": 2158.51171875,
                        "y": 2527.351806640625,
                        "z": 364.7425231933594
                    },
                    "rotation": {
                        "roll": 0.0015306092100217938,
                        "pitch": 0.1687534749507904,
                        "yaw": -0.0947875902056694
                    }
                },
                "velocity": {
                    "x": 6.041536808013916,
                    "y": -0.010177452117204666,
                    "z": 0.01783362403512001
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.4667816162109375,
                "transform": {
                    "location": {
                        "x": 2218.045166015625,
                        "y": 2524.274169921875,
                        "z": 365.979248046875
                    },
                    "rotation": {
                        "roll": 0.00019103848899248987,
                        "pitch": -1.626766562461853,
                        "yaw": 179.89569091796875
                    }
                },
                "velocity": {
                    "x": -6.464114665985107,
                    "y": 0.01069594919681549,
                    "z": -0.18540546298027039
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.115137577056885,
                "transform": {
                    "location": {
                        "x": 2187.818115234375,
                        "y": 2570.976806640625,
                        "z": 365.0847473144531
                    },
                    "rotation": {
                        "roll": -0.002777121029794216,
                        "pitch": 0.5801972150802612,
                        "yaw": -89.35232543945312
                    }
                },
                "velocity": {
                    "x": 0.08216460049152374,
                    "y": -6.114497661590576,
                    "z": 0.03273804485797882
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.0523995161056519,
                "transform": {
                    "location": {
                        "x": 2185.16455078125,
                        "y": 2443.444091796875,
                        "z": 364.5735168457031
                    },
                    "rotation": {
                        "roll": -0.0002441449905745685,
                        "pitch": 0.7166917324066162,
                        "yaw": 90.13524627685547
                    }
                },
                "velocity": {
                    "x": -0.01401861198246479,
                    "y": 1.051848292350769,
                    "z": 0.031038321554660797
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0004924688255414367,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.002773277461528778,
                        "pitch": 0.2176986038684845,
                        "yaw": -179.82476806640625
                    }
                },
                "velocity": {
                    "x": 2.7320534172758926e-06,
                    "y": -1.2200164746900555e-05,
                    "z": -0.0004923100932501256
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0003376576059963554,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.00048100168351083994,
                        "pitch": 0.2191261202096939,
                        "yaw": 179.87442016601562
                    }
                },
                "velocity": {
                    "x": -1.8006710888585076e-05,
                    "y": 9.843889711191878e-05,
                    "z": -0.00032248752540908754
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48764,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.9306640625,
                        "y": 2432.338623046875,
                        "z": 364.45135498046875
                    },
                    "rotation": {
                        "roll": -2.668266141370168e-08,
                        "pitch": -0.7413896918296814,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.895308017730713,
                "transform": {
                    "location": {
                        "x": 2185.033447265625,
                        "y": 2477.676513671875,
                        "z": 364.9336242675781
                    },
                    "rotation": {
                        "roll": 0.0009839024860411882,
                        "pitch": 0.38104256987571716,
                        "yaw": 90.09940338134766
                    }
                },
                "velocity": {
                    "x": -0.00986476894468069,
                    "y": 5.895120143890381,
                    "z": 0.045999497175216675
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.0431270599365234,
                "transform": {
                    "location": {
                        "x": 2185.0205078125,
                        "y": 2490.509521484375,
                        "z": 365.02337646484375
                    },
                    "rotation": {
                        "roll": -0.00045776579645462334,
                        "pitch": 0.3740006387233734,
                        "yaw": 90.07259368896484
                    }
                },
                "velocity": {
                    "x": -0.0037152268923819065,
                    "y": 2.0430800914764404,
                    "z": 0.013354196213185787
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.15156866610050201,
                "transform": {
                    "location": {
                        "x": 2236.9384765625,
                        "y": 2524.330322265625,
                        "z": 366.5338134765625
                    },
                    "rotation": {
                        "roll": 0.00017560215201228857,
                        "pitch": -1.7670859098434448,
                        "yaw": 179.87417602539062
                    }
                },
                "velocity": {
                    "x": -0.004632947035133839,
                    "y": 0.00023828762641642243,
                    "z": 0.15149766206741333
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.25523465871810913,
        "expert_target_speed": 2.4151580924555693,
        "target_point": [
            15.093083438842402,
            8.66617173156881
        ],
        "target_point_next": [
            15.164282438905772,
            36.66614880005499
        ]
    },
    "250": {
        "acceleration": [
            0.005984557792544365,
            3.902401924133301,
            0.01181011088192463
        ],
        "angular_velocity": [
            0.40593573451042175,
            0.015409191139042377,
            -0.06290435791015625
        ],
        "forward_vector": [
            0.00024742470122873783,
            0.9999592304229736,
            0.009022589772939682
        ],
        "right_vector": [
            -0.9999999403953552,
            0.0002474759239703417,
            -4.5620836317539215e-06
        ],
        "location": [
            2184.84033203125,
            2509.95849609375,
            365.11456298828125
        ],
        "rotation": [
            0.00026139875990338624,
            0.5169633030891418,
            89.98582458496094
        ],
        "velocity": [
            0.0027670562267303467,
            2.7769007682800293,
            0.007467632181942463
        ],
        "speed": 2.7769021469029798,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 30.331457138061523,
        "front_vehicle_info": {
            "id": 48775,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2159.9921875,
                2527.34912109375,
                364.7496643066406
            ],
            "velocity": [
                5.786040306091309,
                -0.01015850156545639,
                0.03300168737769127
            ],
            "speed_kmh": 20.83011601753269,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 48777,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.667515754699707,
                "transform": {
                    "location": {
                        "x": 2187.904296875,
                        "y": 2546.380126953125,
                        "z": 365.1593322753906
                    },
                    "rotation": {
                        "roll": 0.0006148839020170271,
                        "pitch": -0.26998370885849,
                        "yaw": -90.07647705078125
                    }
                },
                "velocity": {
                    "x": 0.008063389919698238,
                    "y": -3.667506217956543,
                    "z": 0.0020828628912568092
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.602346897125244,
                "transform": {
                    "location": {
                        "x": 2137.359619140625,
                        "y": 2527.31640625,
                        "z": 364.8323059082031
                    },
                    "rotation": {
                        "roll": -0.005035399924963713,
                        "pitch": -0.08728298544883728,
                        "yaw": 0.3092643916606903
                    }
                },
                "velocity": {
                    "x": 3.6020162105560303,
                    "y": 0.047187600284814835,
                    "z": -0.01249900832772255
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.8901875019073486,
                "transform": {
                    "location": {
                        "x": 2185.044677734375,
                        "y": 2463.6962890625,
                        "z": 364.8170471191406
                    },
                    "rotation": {
                        "roll": 0.011513306759297848,
                        "pitch": -0.19952347874641418,
                        "yaw": 89.5229263305664
                    }
                },
                "velocity": {
                    "x": -0.018674615770578384,
                    "y": 1.8900288343429565,
                    "z": 0.015846729278564453
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48775,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.786143779754639,
                "transform": {
                    "location": {
                        "x": 2159.9921875,
                        "y": 2527.34912109375,
                        "z": 364.7496643066406
                    },
                    "rotation": {
                        "roll": 0.0010183993726968765,
                        "pitch": 0.1951863020658493,
                        "yaw": -0.10003662109375
                    }
                },
                "velocity": {
                    "x": 5.786040306091309,
                    "y": -0.01015850156545639,
                    "z": 0.03300168737769127
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.794055461883545,
                "transform": {
                    "location": {
                        "x": 2216.349365234375,
                        "y": 2524.277099609375,
                        "z": 365.93084716796875
                    },
                    "rotation": {
                        "roll": -0.00115966796875,
                        "pitch": -1.6260972023010254,
                        "yaw": 179.8917236328125
                    }
                },
                "velocity": {
                    "x": -6.791285991668701,
                    "y": 0.012950348667800426,
                    "z": -0.19352465867996216
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.3764262199401855,
                "transform": {
                    "location": {
                        "x": 2187.83447265625,
                        "y": 2569.2470703125,
                        "z": 365.0939025878906
                    },
                    "rotation": {
                        "roll": 0.02128109522163868,
                        "pitch": 0.5920407772064209,
                        "yaw": -89.43411254882812
                    }
                },
                "velocity": {
                    "x": 0.06115829199552536,
                    "y": -7.376073837280273,
                    "z": 0.03815927356481552
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.5181031227111816,
                "transform": {
                    "location": {
                        "x": 2185.158203125,
                        "y": 2443.893310546875,
                        "z": 364.5804138183594
                    },
                    "rotation": {
                        "roll": -0.0009155393927358091,
                        "pitch": 0.760616660118103,
                        "yaw": 90.18065643310547
                    }
                },
                "velocity": {
                    "x": -0.03644329309463501,
                    "y": 2.517627716064453,
                    "z": 0.032655563205480576
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0006343495333567262,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.002773277461528778,
                        "pitch": 0.2176986038684845,
                        "yaw": -179.82476806640625
                    }
                },
                "velocity": {
                    "x": 2.72348506769049e-06,
                    "y": -3.0353105103131384e-05,
                    "z": -0.000633617106359452
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0006845919997431338,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.00048100168351083994,
                        "pitch": 0.2191261202096939,
                        "yaw": 179.87442016601562
                    }
                },
                "velocity": {
                    "x": 1.9913911728508538e-06,
                    "y": -5.696551306755282e-05,
                    "z": -0.0006822149152867496
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48764,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.930419921875,
                        "y": 2431.12548828125,
                        "z": 364.4358825683594
                    },
                    "rotation": {
                        "roll": -2.668266141370168e-08,
                        "pitch": -0.7413896918296814,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.790878772735596,
                "transform": {
                    "location": {
                        "x": 2185.03125,
                        "y": 2479.08447265625,
                        "z": 364.9436340332031
                    },
                    "rotation": {
                        "roll": 0.0003120926849078387,
                        "pitch": 0.4967937767505646,
                        "yaw": 90.09285736083984
                    }
                },
                "velocity": {
                    "x": -0.007202372886240482,
                    "y": 4.790721416473389,
                    "z": 0.038152169436216354
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.630208730697632,
                "transform": {
                    "location": {
                        "x": 2185.019775390625,
                        "y": 2491.083984375,
                        "z": 365.02752685546875
                    },
                    "rotation": {
                        "roll": -0.0007019193726591766,
                        "pitch": 0.31668171286582947,
                        "yaw": 90.06757354736328
                    }
                },
                "velocity": {
                    "x": -0.004684369079768658,
                    "y": 2.6301608085632324,
                    "z": 0.015163707546889782
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.3833063840866089,
                "transform": {
                    "location": {
                        "x": 2236.788818359375,
                        "y": 2524.328369140625,
                        "z": 366.5519714355469
                    },
                    "rotation": {
                        "roll": -0.009948726743459702,
                        "pitch": -1.5962151288986206,
                        "yaw": 179.98867797851562
                    }
                },
                "velocity": {
                    "x": -1.3832169771194458,
                    "y": -0.0156893078237772,
                    "z": -0.0011396026238799095
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": 0.11181347817182541,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.24961669743061066,
        "expert_target_speed": 2.743755268251278,
        "target_point": [
            14.505615992451679,
            8.671385450628758
        ],
        "target_point_next": [
            14.56714187778952,
            36.6713854452501
        ]
    },
    "255": {
        "acceleration": [
            0.009868908673524857,
            2.5371885299682617,
            0.012930687516927719
        ],
        "angular_velocity": [
            -0.20800530910491943,
            0.0096496706828475,
            -0.10110814869403839
        ],
        "forward_vector": [
            0.0006387644680216908,
            0.9999460577964783,
            0.010371617041528225
        ],
        "right_vector": [
            -0.9999998211860657,
            0.0006389700574800372,
            -1.6509087799931876e-05
        ],
        "location": [
            2184.84130859375,
            2510.7880859375,
            365.116943359375
        ],
        "rotation": [
            0.0009459519642405212,
            0.594260573387146,
            89.9634017944336
        ],
        "velocity": [
            0.005056066904217005,
            3.7328901290893555,
            0.011221923865377903
        ],
        "speed": 3.732893553219176,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 28.707134246826172,
        "front_vehicle_info": {
            "id": 48775,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2161.393310546875,
                2527.345947265625,
                364.75885009765625
            ],
            "velocity": [
                5.449039936065674,
                -0.009817088954150677,
                0.0467965304851532
            ],
            "speed_kmh": 19.617298993459855,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 48777,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.712124347686768,
                "transform": {
                    "location": {
                        "x": 2187.906005859375,
                        "y": 2545.33154296875,
                        "z": 365.1587829589844
                    },
                    "rotation": {
                        "roll": 0.0028828121721744537,
                        "pitch": 0.11435101926326752,
                        "yaw": -90.00762176513672
                    }
                },
                "velocity": {
                    "x": 0.0050729913637042046,
                    "y": -4.71212100982666,
                    "z": 0.002231502439826727
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.928685665130615,
                "transform": {
                    "location": {
                        "x": 2138.4345703125,
                        "y": 2527.324951171875,
                        "z": 364.828125
                    },
                    "rotation": {
                        "roll": 0.003988236654549837,
                        "pitch": -0.07477007806301117,
                        "yaw": 0.376911997795105
                    }
                },
                "velocity": {
                    "x": 4.928572654724121,
                    "y": 0.027874557301402092,
                    "z": -0.018303966149687767
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.1516599655151367,
                "transform": {
                    "location": {
                        "x": 2185.0439453125,
                        "y": 2464.049560546875,
                        "z": 364.8182373046875
                    },
                    "rotation": {
                        "roll": 0.01606392301619053,
                        "pitch": 0.03326984867453575,
                        "yaw": 89.58522033691406
                    }
                },
                "velocity": {
                    "x": 0.0007124713156372309,
                    "y": 2.1515610218048096,
                    "z": 0.02063022553920746
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48775,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.449249744415283,
                "transform": {
                    "location": {
                        "x": 2161.393310546875,
                        "y": 2527.345947265625,
                        "z": 364.75885009765625
                    },
                    "rotation": {
                        "roll": 0.0001971559104276821,
                        "pitch": 0.23215128481388092,
                        "yaw": -0.103057861328125
                    }
                },
                "velocity": {
                    "x": 5.449039936065674,
                    "y": -0.009817088954150677,
                    "z": 0.0467965304851532
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.027119159698486,
                "transform": {
                    "location": {
                        "x": 2214.7490234375,
                        "y": 2524.280029296875,
                        "z": 365.8854675292969
                    },
                    "rotation": {
                        "roll": -0.00018310543964616954,
                        "pitch": -1.6604257822036743,
                        "yaw": 179.88426208496094
                    }
                },
                "velocity": {
                    "x": -6.024656295776367,
                    "y": 0.01300398912280798,
                    "z": -0.1718118041753769
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.60662841796875,
                "transform": {
                    "location": {
                        "x": 2187.851318359375,
                        "y": 2567.2216796875,
                        "z": 365.10400390625
                    },
                    "rotation": {
                        "roll": 0.009805489331483841,
                        "pitch": 0.5865151286125183,
                        "yaw": -89.5476303100586
                    }
                },
                "velocity": {
                    "x": 0.06317198276519775,
                    "y": -8.606303215026855,
                    "z": 0.03999141603708267
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.302687644958496,
                "transform": {
                    "location": {
                        "x": 2185.147216796875,
                        "y": 2444.770263671875,
                        "z": 364.5908203125
                    },
                    "rotation": {
                        "roll": 0.002719683339819312,
                        "pitch": 0.7836002111434937,
                        "yaw": 90.38945770263672
                    }
                },
                "velocity": {
                    "x": -0.06272906810045242,
                    "y": 4.301934242248535,
                    "z": 0.0504857636988163
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0001956637279363349,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.002773277461528778,
                        "pitch": 0.2176986038684845,
                        "yaw": -179.82476806640625
                    }
                },
                "velocity": {
                    "x": 9.448081073060166e-07,
                    "y": 4.1318403418699745e-06,
                    "z": -0.0001956178166437894
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00039385646232403815,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0012079378357157111,
                        "pitch": 0.2198432832956314,
                        "yaw": 179.8744354248047
                    }
                },
                "velocity": {
                    "x": -1.3514719285012688e-05,
                    "y": -4.028397597721778e-05,
                    "z": -0.0003915577253792435
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.006018279120326042,
                "transform": {
                    "location": {
                        "x": 2185.030517578125,
                        "y": 2479.66162109375,
                        "z": 364.94482421875
                    },
                    "rotation": {
                        "roll": 1.2007552868453786e-05,
                        "pitch": 0.8626528382301331,
                        "yaw": 90.0995864868164
                    }
                },
                "velocity": {
                    "x": 0.0005149729549884796,
                    "y": 0.005966005381196737,
                    "z": 0.0006010552169755101
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.306748867034912,
                "transform": {
                    "location": {
                        "x": 2185.01953125,
                        "y": 2491.71142578125,
                        "z": 365.0308837890625
                    },
                    "rotation": {
                        "roll": 0.00036849119351245463,
                        "pitch": 0.3736249804496765,
                        "yaw": 90.08036804199219
                    }
                },
                "velocity": {
                    "x": -0.0028680572286248207,
                    "y": 2.306709051132202,
                    "z": 0.013266248628497124
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.603703737258911,
                "transform": {
                    "location": {
                        "x": 2236.286376953125,
                        "y": 2524.3251953125,
                        "z": 366.5412292480469
                    },
                    "rotation": {
                        "roll": -0.004791260231286287,
                        "pitch": -1.570062279701233,
                        "yaw": -179.95460510253906
                    }
                },
                "velocity": {
                    "x": -2.602644681930542,
                    "y": -0.012390217743813992,
                    "z": -0.07321031391620636
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.2495393007993698,
        "expert_target_speed": 2.107503162344967,
        "target_point": [
            13.670835962738453,
            8.68054142590714
        ],
        "target_point_next": [
            13.71561245605136,
            36.680573215157104
        ]
    },
    "260": {
        "acceleration": [
            -0.00040238723158836365,
            -3.503298759460449,
            -0.026095565408468246
        ],
        "angular_velocity": [
            -1.7899878025054932,
            0.04177406057715416,
            -0.09108656644821167
        ],
        "forward_vector": [
            0.0010710391215980053,
            0.9999877214431763,
            0.004838209133595228
        ],
        "right_vector": [
            -0.9999994039535522,
            0.0010712766088545322,
            -4.6515368012478575e-05
        ],
        "location": [
            2184.843017578125,
            2511.693115234375,
            365.1210021972656
        ],
        "rotation": [
            0.0026651653461158276,
            0.2772100567817688,
            89.93863677978516
        ],
        "velocity": [
            0.005854790098965168,
            3.3290188312530518,
            0.009037485346198082
        ],
        "speed": 3.329023979698034,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 27.090322494506836,
        "front_vehicle_info": {
            "id": 48775,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2162.7333984375,
                2527.34326171875,
                364.7699890136719
            ],
            "velocity": [
                5.270483493804932,
                -0.010050032287836075,
                0.04780982807278633
            ],
            "speed_kmh": 18.974555705338226,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 48777,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.149538040161133,
                "transform": {
                    "location": {
                        "x": 2187.907958984375,
                        "y": 2544.201416015625,
                        "z": 365.1600341796875
                    },
                    "rotation": {
                        "roll": 0.0013438481837511063,
                        "pitch": -0.027436869218945503,
                        "yaw": -89.96734619140625
                    }
                },
                "velocity": {
                    "x": 0.005276390817016363,
                    "y": -4.149534225463867,
                    "z": 0.0021294879261404276
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.333340167999268,
                "transform": {
                    "location": {
                        "x": 2139.748046875,
                        "y": 2527.332275390625,
                        "z": 364.8240966796875
                    },
                    "rotation": {
                        "roll": -0.0006713867769576609,
                        "pitch": -0.14943769574165344,
                        "yaw": 0.42673566937446594
                    }
                },
                "velocity": {
                    "x": 5.333206653594971,
                    "y": 0.030552024021744728,
                    "z": -0.022241290658712387
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.1399149894714355,
                "transform": {
                    "location": {
                        "x": 2185.044677734375,
                        "y": 2464.730224609375,
                        "z": 364.8176574707031
                    },
                    "rotation": {
                        "roll": -0.009918250143527985,
                        "pitch": 0.9264058470726013,
                        "yaw": 89.7032699584961
                    }
                },
                "velocity": {
                    "x": 0.00015354638162534684,
                    "y": 3.1397736072540283,
                    "z": 0.029792480170726776
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48775,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.270709991455078,
                "transform": {
                    "location": {
                        "x": 2162.7333984375,
                        "y": 2527.34326171875,
                        "z": 364.7699890136719
                    },
                    "rotation": {
                        "roll": 0.0021369128953665495,
                        "pitch": 0.43172940611839294,
                        "yaw": -0.1090392991900444
                    }
                },
                "velocity": {
                    "x": 5.270483493804932,
                    "y": -0.010050032287836075,
                    "z": 0.04780982807278633
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.685257434844971,
                "transform": {
                    "location": {
                        "x": 2213.3017578125,
                        "y": 2524.28271484375,
                        "z": 365.84429931640625
                    },
                    "rotation": {
                        "roll": 0.0003167756658513099,
                        "pitch": -1.646054983139038,
                        "yaw": 179.8790283203125
                    }
                },
                "velocity": {
                    "x": -5.68308162689209,
                    "y": 0.011383662931621075,
                    "z": -0.15686115622520447
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.221297264099121,
                "transform": {
                    "location": {
                        "x": 2187.8662109375,
                        "y": 2565.120361328125,
                        "z": 365.1162109375
                    },
                    "rotation": {
                        "roll": 0.01056431420147419,
                        "pitch": 0.21398980915546417,
                        "yaw": -89.62708282470703
                    }
                },
                "velocity": {
                    "x": 0.044772714376449585,
                    "y": -8.221092224121094,
                    "z": 0.03683922812342644
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.413530349731445,
                "transform": {
                    "location": {
                        "x": 2185.1328125,
                        "y": 2445.975830078125,
                        "z": 364.6051940917969
                    },
                    "rotation": {
                        "roll": 0.005562839098274708,
                        "pitch": 0.7503713965415955,
                        "yaw": 90.65789794921875
                    }
                },
                "velocity": {
                    "x": -0.07457166165113449,
                    "y": 5.412650108337402,
                    "z": 0.06298761069774628
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0003187950933352113,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.002773277461528778,
                        "pitch": 0.2176986038684845,
                        "yaw": -179.82476806640625
                    }
                },
                "velocity": {
                    "x": 7.691382961638737e-06,
                    "y": 4.0299210013472475e-06,
                    "z": -0.0003186768153682351
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0012079378357157111,
                        "pitch": 0.2198432832956314,
                        "yaw": 179.8744354248047
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.5078459978103638,
                "transform": {
                    "location": {
                        "x": 2185.030517578125,
                        "y": 2479.893310546875,
                        "z": 364.9499816894531
                    },
                    "rotation": {
                        "roll": -0.00024413326173089445,
                        "pitch": 0.4449799656867981,
                        "yaw": 90.11039733886719
                    }
                },
                "velocity": {
                    "x": -0.002368181711062789,
                    "y": 1.5078034400939941,
                    "z": 0.011070375330746174
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.7803125381469727,
                "transform": {
                    "location": {
                        "x": 2185.01904296875,
                        "y": 2492.3291015625,
                        "z": 365.0350646972656
                    },
                    "rotation": {
                        "roll": 0.0003892869863193482,
                        "pitch": 0.32456374168395996,
                        "yaw": 90.07122802734375
                    }
                },
                "velocity": {
                    "x": -0.003562750993296504,
                    "y": 2.780259132385254,
                    "z": 0.01684587448835373
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.180045127868652,
                "transform": {
                    "location": {
                        "x": 2235.430908203125,
                        "y": 2524.320556640625,
                        "z": 366.5158386230469
                    },
                    "rotation": {
                        "roll": -0.01235961727797985,
                        "pitch": -1.5267589092254639,
                        "yaw": -179.81198120117188
                    }
                },
                "velocity": {
                    "x": -4.178015232086182,
                    "y": -0.024829799309372902,
                    "z": -0.12786278128623962
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.24554656445980072,
        "expert_target_speed": 0.0,
        "target_point": [
            12.7615175265556,
            8.688011355613943
        ],
        "target_point_next": [
            12.792468582710596,
            36.68806184066637
        ]
    },
    "265": {
        "acceleration": [
            -0.002582212910056114,
            -3.7571001052856445,
            -0.011361688375473022
        ],
        "angular_velocity": [
            -0.8087811470031738,
            -0.014554701745510101,
            -0.06181681528687477
        ],
        "forward_vector": [
            0.001411631004884839,
            0.999998152256012,
            -0.001306056510657072
        ],
        "right_vector": [
            -0.9999989867210388,
            0.001411610166542232,
            -1.686060568317771e-05
        ],
        "location": [
            2184.844970703125,
            2512.388916015625,
            365.1244201660156
        ],
        "rotation": [
            0.0009660423384048045,
            -0.07483154535293579,
            89.91912078857422
        ],
        "velocity": [
            0.0050177681259810925,
            2.3098461627960205,
            0.008655671961605549
        ],
        "speed": 2.309851612935443,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.640193939208984,
        "front_vehicle_info": {
            "id": 48775,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2164.018310546875,
                2527.340576171875,
                364.78143310546875
            ],
            "velocity": [
                4.9945173263549805,
                -0.009987176395952702,
                0.054151639342308044
            ],
            "speed_kmh": 17.98135511167796,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 48777,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.204157829284668,
                "transform": {
                    "location": {
                        "x": 2187.909912109375,
                        "y": 2543.17041015625,
                        "z": 365.1604309082031
                    },
                    "rotation": {
                        "roll": 8.772190631134436e-05,
                        "pitch": -0.01434339676052332,
                        "yaw": -89.94830322265625
                    }
                },
                "velocity": {
                    "x": 0.004748367704451084,
                    "y": -4.204154968261719,
                    "z": 0.0014913653722032905
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.293931007385254,
                "transform": {
                    "location": {
                        "x": 2141.159423828125,
                        "y": 2527.3408203125,
                        "z": 364.8185729980469
                    },
                    "rotation": {
                        "roll": 0.00016454950673505664,
                        "pitch": -0.14547619223594666,
                        "yaw": 0.3701317608356476
                    }
                },
                "velocity": {
                    "x": 6.293785095214844,
                    "y": 0.03528020903468132,
                    "z": -0.024353517219424248
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.164954662322998,
                "transform": {
                    "location": {
                        "x": 2185.045654296875,
                        "y": 2465.643798828125,
                        "z": 364.826904296875
                    },
                    "rotation": {
                        "roll": -0.010070769116282463,
                        "pitch": 0.8555562496185303,
                        "yaw": 89.8294448852539
                    }
                },
                "velocity": {
                    "x": -0.002601037034764886,
                    "y": 4.16476583480835,
                    "z": 0.03957981988787651
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48775,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.994820594787598,
                "transform": {
                    "location": {
                        "x": 2164.018310546875,
                        "y": 2527.340576171875,
                        "z": 364.78143310546875
                    },
                    "rotation": {
                        "roll": 0.001248568994924426,
                        "pitch": 0.5548162460327148,
                        "yaw": -0.11437986046075821
                    }
                },
                "velocity": {
                    "x": 4.9945173263549805,
                    "y": -0.009987176395952702,
                    "z": 0.054151639342308044
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.681499481201172,
                "transform": {
                    "location": {
                        "x": 2211.8759765625,
                        "y": 2524.28564453125,
                        "z": 365.8046875
                    },
                    "rotation": {
                        "roll": 0.000899732403922826,
                        "pitch": -1.570096492767334,
                        "yaw": 179.87692260742188
                    }
                },
                "velocity": {
                    "x": -5.679410457611084,
                    "y": 0.012109782546758652,
                    "z": -0.1535746306180954
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.821662425994873,
                "transform": {
                    "location": {
                        "x": 2187.876220703125,
                        "y": 2563.120849609375,
                        "z": 365.1258239746094
                    },
                    "rotation": {
                        "roll": 0.011615756899118423,
                        "pitch": 0.09700917452573776,
                        "yaw": -89.74376678466797
                    }
                },
                "velocity": {
                    "x": 0.031087582930922508,
                    "y": -7.821532249450684,
                    "z": 0.03271504491567612
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.636806488037109,
                "transform": {
                    "location": {
                        "x": 2185.117431640625,
                        "y": 2447.450439453125,
                        "z": 364.6223449707031
                    },
                    "rotation": {
                        "roll": 0.010471020825207233,
                        "pitch": 0.7407407760620117,
                        "yaw": 90.54153442382812
                    }
                },
                "velocity": {
                    "x": -0.05119964852929115,
                    "y": 6.63619327545166,
                    "z": 0.07428546994924545
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0001529982255306095,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.78143310546875
                    },
                    "rotation": {
                        "roll": 0.0032110363245010376,
                        "pitch": 0.21779422461986542,
                        "yaw": -179.8247528076172
                    }
                },
                "velocity": {
                    "x": 8.369273928110488e-06,
                    "y": 1.2000436981907114e-05,
                    "z": 0.00015229708515107632
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0003045013581868261,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.00013564359687734395,
                        "pitch": 0.21959739923477173,
                        "yaw": 179.8744354248047
                    }
                },
                "velocity": {
                    "x": -2.5988592824433e-05,
                    "y": 5.171922020963393e-05,
                    "z": -0.00029894948238506913
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.209463119506836,
                "transform": {
                    "location": {
                        "x": 2185.030517578125,
                        "y": 2480.3818359375,
                        "z": 364.9542541503906
                    },
                    "rotation": {
                        "roll": 0.00038619342376478016,
                        "pitch": 0.3593703806400299,
                        "yaw": 90.11451721191406
                    }
                },
                "velocity": {
                    "x": -0.00371677428483963,
                    "y": 2.2094082832336426,
                    "z": 0.015123595483601093
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.9147913455963135,
                "transform": {
                    "location": {
                        "x": 2185.017333984375,
                        "y": 2493.089599609375,
                        "z": 365.0398254394531
                    },
                    "rotation": {
                        "roll": -0.0004272405640222132,
                        "pitch": 0.3257521986961365,
                        "yaw": 90.08241271972656
                    }
                },
                "velocity": {
                    "x": -0.0038782700430601835,
                    "y": 2.914736270904541,
                    "z": 0.017460575327277184
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.450191020965576,
                "transform": {
                    "location": {
                        "x": 2234.204345703125,
                        "y": 2524.3125,
                        "z": 366.4787292480469
                    },
                    "rotation": {
                        "roll": -0.0164794921875,
                        "pitch": -1.54733145236969,
                        "yaw": -179.68600463867188
                    }
                },
                "velocity": {
                    "x": -5.447504997253418,
                    "y": -0.037382304668426514,
                    "z": -0.1669534295797348
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.24321608245372772,
        "expert_target_speed": 0.0,
        "target_point": [
            12.062832674053876,
            8.693205754586154
        ],
        "target_point_next": [
            12.084497785115289,
            36.69326496445792
        ]
    },
    "270": {
        "acceleration": [
            0.0067224036902189255,
            -0.21205508708953857,
            -0.00446594413369894
        ],
        "angular_velocity": [
            0.1556173413991928,
            -0.018598508089780807,
            -0.0002621740859467536
        ],
        "forward_vector": [
            0.002988001797348261,
            0.9999388456344604,
            -0.010649717412889004
        ],
        "right_vector": [
            -0.9999955296516418,
            0.0029884036630392075,
            2.183671858801972e-05
        ],
        "location": [
            2184.84521484375,
            2512.66015625,
            365.1274108886719
        ],
        "rotation": [
            -0.0012512227986007929,
            -0.6101953983306885,
            89.82878875732422
        ],
        "velocity": [
            -0.0001975340856006369,
            -0.0004890113486908376,
            -7.069826096994802e-05
        ],
        "speed": 0.0005274009993567624,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 24.475543975830078,
        "front_vehicle_info": {
            "id": 48775,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2165.26171875,
                2527.337646484375,
                364.79541015625
            ],
            "velocity": [
                4.596343517303467,
                -0.009494110941886902,
                0.0501568503677845
            ],
            "speed_kmh": 16.54785712156814,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 48777,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.7911832332611084,
                "transform": {
                    "location": {
                        "x": 2187.911376953125,
                        "y": 2542.184326171875,
                        "z": 365.1610412597656
                    },
                    "rotation": {
                        "roll": 1.5141162066356628e-06,
                        "pitch": -0.09509672224521637,
                        "yaw": -89.94454193115234
                    }
                },
                "velocity": {
                    "x": 0.0037014498375356197,
                    "y": -3.7911813259124756,
                    "z": 0.0008229446248151362
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.315807342529297,
                "transform": {
                    "location": {
                        "x": 2143.06396484375,
                        "y": 2527.351806640625,
                        "z": 364.8102722167969
                    },
                    "rotation": {
                        "roll": -0.00042724609375,
                        "pitch": -0.027587132528424263,
                        "yaw": 0.33721524477005005
                    }
                },
                "velocity": {
                    "x": 8.315618515014648,
                    "y": 0.04654547944664955,
                    "z": -0.031104616820812225
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.058292865753174,
                "transform": {
                    "location": {
                        "x": 2185.044921875,
                        "y": 2466.8271484375,
                        "z": 364.8388977050781
                    },
                    "rotation": {
                        "roll": -0.005249024834483862,
                        "pitch": 0.7515461444854736,
                        "yaw": 89.9146728515625
                    }
                },
                "velocity": {
                    "x": -0.004497996997088194,
                    "y": 5.058061599731445,
                    "z": 0.04818277433514595
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48775,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.5966267585754395,
                "transform": {
                    "location": {
                        "x": 2165.26171875,
                        "y": 2527.337646484375,
                        "z": 364.79541015625
                    },
                    "rotation": {
                        "roll": 0.0010331947123631835,
                        "pitch": 0.5268739461898804,
                        "yaw": -0.120391845703125
                    }
                },
                "velocity": {
                    "x": 4.596343517303467,
                    "y": -0.009494110941886902,
                    "z": 0.0501568503677845
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.296024799346924,
                "transform": {
                    "location": {
                        "x": 2210.499755859375,
                        "y": 2524.28857421875,
                        "z": 365.7669372558594
                    },
                    "rotation": {
                        "roll": -0.00039672854472883046,
                        "pitch": -1.5311301946640015,
                        "yaw": 179.87738037109375
                    }
                },
                "velocity": {
                    "x": -5.294097900390625,
                    "y": 0.01138387806713581,
                    "z": -0.1423833668231964
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.542783737182617,
                "transform": {
                    "location": {
                        "x": 2187.88330078125,
                        "y": 2561.20068359375,
                        "z": 365.1326904296875
                    },
                    "rotation": {
                        "roll": 0.004836929962038994,
                        "pitch": 0.1471291035413742,
                        "yaw": -89.80670166015625
                    }
                },
                "velocity": {
                    "x": 0.0251602865755558,
                    "y": -7.542696952819824,
                    "z": 0.02597516030073166
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.380040168762207,
                "transform": {
                    "location": {
                        "x": 2185.101806640625,
                        "y": 2449.398681640625,
                        "z": 364.6443176269531
                    },
                    "rotation": {
                        "roll": 0.005366576835513115,
                        "pitch": 0.763717532157898,
                        "yaw": 90.4239273071289
                    }
                },
                "velocity": {
                    "x": -0.06263940036296844,
                    "y": 8.379257202148438,
                    "z": 0.09591659158468246
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00020731790573336184,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.003425516653805971,
                        "pitch": 0.2176644504070282,
                        "yaw": -179.82473754882812
                    }
                },
                "velocity": {
                    "x": 2.858526841009734e-06,
                    "y": -1.878348302852828e-05,
                    "z": -0.0002064454456558451
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00010519518400542438,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.00013564359687734395,
                        "pitch": 0.21959739923477173,
                        "yaw": 179.8744354248047
                    }
                },
                "velocity": {
                    "x": 3.348909376654774e-05,
                    "y": -9.001573198474944e-05,
                    "z": 4.291474397177808e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7355793714523315,
                "transform": {
                    "location": {
                        "x": 2185.030517578125,
                        "y": 2480.862060546875,
                        "z": 364.9569396972656
                    },
                    "rotation": {
                        "roll": 0.0008211956010200083,
                        "pitch": 0.45154377818107605,
                        "yaw": 90.10980224609375
                    }
                },
                "velocity": {
                    "x": -0.0035180794075131416,
                    "y": 1.735522747039795,
                    "z": 0.013565988279879093
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.52211856842041,
                "transform": {
                    "location": {
                        "x": 2185.01708984375,
                        "y": 2493.763427734375,
                        "z": 365.04345703125
                    },
                    "rotation": {
                        "roll": -0.00042725633829832077,
                        "pitch": 0.379054993391037,
                        "yaw": 90.0708236694336
                    }
                },
                "velocity": {
                    "x": -0.0035014094319194555,
                    "y": 2.522061824798584,
                    "z": 0.01652706041932106
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.841383934020996,
                "transform": {
                    "location": {
                        "x": 2232.77783203125,
                        "y": 2524.30224609375,
                        "z": 366.4347839355469
                    },
                    "rotation": {
                        "roll": -0.017181390896439552,
                        "pitch": -1.6658283472061157,
                        "yaw": -179.62002563476562
                    }
                },
                "velocity": {
                    "x": -5.838486671447754,
                    "y": -0.04294658452272415,
                    "z": -0.17887666821479797
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.23393981158733368,
        "expert_target_speed": 0.0,
        "target_point": [
            11.777958926777037,
            8.711526386600868
        ],
        "target_point_next": [
            11.755757778902497,
            36.71158517658191
        ]
    },
    "275": {
        "acceleration": [
            0.004979788325726986,
            0.015064505860209465,
            0.005950841587036848
        ],
        "angular_velocity": [
            1.5591202974319458,
            -0.018539397045969963,
            -0.00042032400961034
        ],
        "forward_vector": [
            0.002990778535604477,
            0.9999904632568359,
            -0.0031866973731666803
        ],
        "right_vector": [
            -0.9999955296516418,
            0.0029907936695963144,
            1.1641531488804091e-10
        ],
        "location": [
            2184.84521484375,
            2512.6630859375,
            365.1257629394531
        ],
        "rotation": [
            -6.670140439979377e-09,
            -0.18258461356163025,
            89.82864379882812
        ],
        "velocity": [
            6.968167144805193e-05,
            -0.004968737252056599,
            0.00022789590002503246
        ],
        "speed": 0.0049692258366178885,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.5986328125,
        "front_vehicle_info": {
            "id": 48775,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2166.365234375,
                2527.335693359375,
                364.80902099609375
            ],
            "velocity": [
                4.620957851409912,
                -0.009615560993552208,
                0.06702937930822372
            ],
            "speed_kmh": 16.637234317075933,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 48777,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.7003839015960693,
                "transform": {
                    "location": {
                        "x": 2187.912841796875,
                        "y": 2541.226318359375,
                        "z": 365.1609191894531
                    },
                    "rotation": {
                        "roll": 0.0006706294952891767,
                        "pitch": -0.060542792081832886,
                        "yaw": -89.93807983398438
                    }
                },
                "velocity": {
                    "x": 0.003883951110765338,
                    "y": -3.7003817558288574,
                    "z": -0.0002682018093764782
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.071154594421387,
                "transform": {
                    "location": {
                        "x": 2145.1328125,
                        "y": 2527.358154296875,
                        "z": 364.8038635253906
                    },
                    "rotation": {
                        "roll": 0.005248929839581251,
                        "pitch": -0.19146385788917542,
                        "yaw": 0.16198281943798065
                    }
                },
                "velocity": {
                    "x": 8.07108211517334,
                    "y": 0.012108070775866508,
                    "z": -0.03194039687514305
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.257257461547852,
                "transform": {
                    "location": {
                        "x": 2185.0439453125,
                        "y": 2468.109375,
                        "z": 364.85211181640625
                    },
                    "rotation": {
                        "roll": -0.0011596442200243473,
                        "pitch": 0.5812832117080688,
                        "yaw": 90.0155029296875
                    }
                },
                "velocity": {
                    "x": -0.006071054842323065,
                    "y": 5.257028579711914,
                    "z": 0.048680875450372696
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48775,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.621454238891602,
                "transform": {
                    "location": {
                        "x": 2166.365234375,
                        "y": 2527.335693359375,
                        "z": 364.80902099609375
                    },
                    "rotation": {
                        "roll": 0.0003496174467727542,
                        "pitch": 0.6024090051651001,
                        "yaw": -0.12011716514825821
                    }
                },
                "velocity": {
                    "x": 4.620957851409912,
                    "y": -0.009615560993552208,
                    "z": 0.06702937930822372
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.103770732879639,
                "transform": {
                    "location": {
                        "x": 2209.220458984375,
                        "y": 2524.29150390625,
                        "z": 365.7328796386719
                    },
                    "rotation": {
                        "roll": 0.0004713166272267699,
                        "pitch": -1.5319771766662598,
                        "yaw": 179.87417602539062
                    }
                },
                "velocity": {
                    "x": -5.1019673347473145,
                    "y": 0.010980195365846157,
                    "z": -0.13522231578826904
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.154243469238281,
                "transform": {
                    "location": {
                        "x": 2187.888671875,
                        "y": 2559.364990234375,
                        "z": 365.1390686035156
                    },
                    "rotation": {
                        "roll": 0.006463152356445789,
                        "pitch": 0.11523894220590591,
                        "yaw": -89.84819793701172
                    }
                },
                "velocity": {
                    "x": 0.01645253784954548,
                    "y": -7.154180526733398,
                    "z": 0.025044431909918785
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.504458427429199,
                "transform": {
                    "location": {
                        "x": 2185.087158203125,
                        "y": 2451.40771484375,
                        "z": 364.6679992675781
                    },
                    "rotation": {
                        "roll": 0.004947064444422722,
                        "pitch": 0.6312733888626099,
                        "yaw": 90.41059875488281
                    }
                },
                "velocity": {
                    "x": -0.05403674393892288,
                    "y": 7.503798007965088,
                    "z": 0.08365039527416229
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00043109743273817003,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.78143310546875
                    },
                    "rotation": {
                        "roll": 0.0026298854500055313,
                        "pitch": 0.2177600860595703,
                        "yaw": -179.82470703125
                    }
                },
                "velocity": {
                    "x": 3.3595040349609917e-06,
                    "y": -1.597447771928273e-05,
                    "z": -0.00043078826274722815
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.400297130923718e-05,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0011209369404241443,
                        "pitch": 0.2196042239665985,
                        "yaw": 179.8744354248047
                    }
                },
                "velocity": {
                    "x": -5.36631796421716e-06,
                    "y": -1.2534609595604707e-05,
                    "z": -9.300884266849607e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.450000286102295,
                "transform": {
                    "location": {
                        "x": 2187.77685546875,
                        "y": 2576.30126953125,
                        "z": 365.13311767578125
                    },
                    "rotation": {
                        "roll": -2.6680980980131608e-08,
                        "pitch": 0.3695405423641205,
                        "yaw": -89.93964385986328
                    }
                },
                "velocity": {
                    "x": 3.7900780604227524e-12,
                    "y": -3.5983027668606837e-09,
                    "z": -2.450000286102295
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.4112796783447266,
                "transform": {
                    "location": {
                        "x": 2185.0302734375,
                        "y": 2481.36865234375,
                        "z": 364.96136474609375
                    },
                    "rotation": {
                        "roll": 0.0003184910456184298,
                        "pitch": 0.3754759728908539,
                        "yaw": 90.11078643798828
                    }
                },
                "velocity": {
                    "x": -0.0030532493256032467,
                    "y": 2.411217451095581,
                    "z": 0.017035674303770065
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.4693562984466553,
                "transform": {
                    "location": {
                        "x": 2185.017333984375,
                        "y": 2494.279296875,
                        "z": 365.0462951660156
                    },
                    "rotation": {
                        "roll": -0.00048830546438694,
                        "pitch": 0.4284440875053406,
                        "yaw": 90.10781860351562
                    }
                },
                "velocity": {
                    "x": -0.005900770891457796,
                    "y": 1.4693154096603394,
                    "z": 0.009227743372321129
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.006814002990723,
                "transform": {
                    "location": {
                        "x": 2231.0380859375,
                        "y": 2524.28955078125,
                        "z": 366.38177490234375
                    },
                    "rotation": {
                        "roll": -0.00994872860610485,
                        "pitch": -1.489227056503296,
                        "yaw": -179.59730529785156
                    }
                },
                "velocity": {
                    "x": -8.002896308898926,
                    "y": -0.04289993271231651,
                    "z": -0.24675686657428741
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.23731614649295807,
        "expert_target_speed": 0.0,
        "target_point": [
            11.775203716975808,
            8.71128180423479
        ],
        "target_point_next": [
            11.753563330781128,
            36.71134103322657
        ]
    },
    "280": {
        "acceleration": [
            -0.0007218832615762949,
            0.009032076224684715,
            0.004329856019467115
        ],
        "angular_velocity": [
            0.5714068412780762,
            -0.015721136704087257,
            5.1393406465649605e-05
        ],
        "forward_vector": [
            0.0029911494348198175,
            0.9999948740005493,
            0.0011253353441134095
        ],
        "right_vector": [
            -0.9999955296516418,
            0.0029911447782069445,
            5.8589498621586245e-06
        ],
        "location": [
            2184.84521484375,
            2512.66455078125,
            365.1248779296875
        ],
        "rotation": [
            -0.0003356933011673391,
            0.06447698175907135,
            89.82862091064453
        ],
        "velocity": [
            -5.149378193891607e-05,
            -0.0018540670862421393,
            0.0003340659604873508
        ],
        "speed": 0.0018547820275883603,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.70774269104004,
        "front_vehicle_info": {
            "id": 48775,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2167.513916015625,
                2527.33349609375,
                364.82537841796875
            ],
            "velocity": [
                4.275401592254639,
                -0.008961266838014126,
                0.06327201426029205
            ],
            "speed_kmh": 15.393164907055478,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 48777,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.812523365020752,
                "transform": {
                    "location": {
                        "x": 2187.913330078125,
                        "y": 2540.396484375,
                        "z": 365.1615905761719
                    },
                    "rotation": {
                        "roll": 0.0004133774491492659,
                        "pitch": -0.2613776624202728,
                        "yaw": -89.94329833984375
                    }
                },
                "velocity": {
                    "x": 0.0029595689848065376,
                    "y": -2.81252121925354,
                    "z": -0.0020260524470359087
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.838292121887207,
                "transform": {
                    "location": {
                        "x": 2147.09912109375,
                        "y": 2527.361083984375,
                        "z": 364.7967224121094
                    },
                    "rotation": {
                        "roll": 0.0014554770896211267,
                        "pitch": -0.2326362282037735,
                        "yaw": 0.07903499901294708
                    }
                },
                "velocity": {
                    "x": 7.838229179382324,
                    "y": 0.008355374448001385,
                    "z": -0.030295414850115776
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.7788307666778564,
                "transform": {
                    "location": {
                        "x": 2185.042236328125,
                        "y": 2469.437744140625,
                        "z": 364.8651428222656
                    },
                    "rotation": {
                        "roll": -0.003326402511447668,
                        "pitch": 0.41470858454704285,
                        "yaw": 90.03977966308594
                    }
                },
                "velocity": {
                    "x": -0.007552535738795996,
                    "y": 3.778697967529297,
                    "z": 0.030752573162317276
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48775,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.27587890625,
                "transform": {
                    "location": {
                        "x": 2167.513916015625,
                        "y": 2527.33349609375,
                        "z": 364.82537841796875
                    },
                    "rotation": {
                        "roll": 0.0007907275576144457,
                        "pitch": 0.7691885232925415,
                        "yaw": -0.1201782152056694
                    }
                },
                "velocity": {
                    "x": 4.275401592254639,
                    "y": -0.008961266838014126,
                    "z": 0.06327201426029205
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.955219745635986,
                "transform": {
                    "location": {
                        "x": 2207.961181640625,
                        "y": 2524.293212890625,
                        "z": 365.6993408203125
                    },
                    "rotation": {
                        "roll": 0.004105378407984972,
                        "pitch": -1.5328924655914307,
                        "yaw": 179.7384796142578
                    }
                },
                "velocity": {
                    "x": -4.953327178955078,
                    "y": 0.012180302292108536,
                    "z": -0.13639439642429352
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.837254047393799,
                "transform": {
                    "location": {
                        "x": 2187.892822265625,
                        "y": 2557.618408203125,
                        "z": 365.1449279785156
                    },
                    "rotation": {
                        "roll": 0.0025480377953499556,
                        "pitch": 0.09959781169891357,
                        "yaw": -89.88195037841797
                    }
                },
                "velocity": {
                    "x": 0.013150067999958992,
                    "y": -6.837209701538086,
                    "z": 0.02083231881260872
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.05897855758667,
                "transform": {
                    "location": {
                        "x": 2185.078369140625,
                        "y": 2453.0869140625,
                        "z": 364.6871337890625
                    },
                    "rotation": {
                        "roll": 0.004446400795131922,
                        "pitch": 0.5628963708877563,
                        "yaw": 90.30197143554688
                    }
                },
                "velocity": {
                    "x": -0.023898815736174583,
                    "y": 6.05858039855957,
                    "z": 0.06521318107843399
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00015744807024020702,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.002757342765107751,
                        "pitch": 0.217725932598114,
                        "yaw": -179.82470703125
                    }
                },
                "velocity": {
                    "x": 2.871453830266546e-07,
                    "y": 1.2116627658542711e-05,
                    "z": -0.0001569808810018003
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00021914043463766575,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0011209369404241443,
                        "pitch": 0.2196042239665985,
                        "yaw": 179.8744354248047
                    }
                },
                "velocity": {
                    "x": 4.416331648826599e-06,
                    "y": 1.1098743016191293e-05,
                    "z": -0.00021881463180761784
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.1544186919927597,
                "transform": {
                    "location": {
                        "x": 2187.77685546875,
                        "y": 2576.30078125,
                        "z": 365.0164489746094
                    },
                    "rotation": {
                        "roll": 0.0008044841233640909,
                        "pitch": 0.36058616638183594,
                        "yaw": -89.93975830078125
                    }
                },
                "velocity": {
                    "x": 0.00033802917459979653,
                    "y": 0.0009498681174591184,
                    "z": 0.15441539883613586
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.316528081893921,
                "transform": {
                    "location": {
                        "x": 2185.029052734375,
                        "y": 2482.08349609375,
                        "z": 364.9670104980469
                    },
                    "rotation": {
                        "roll": -6.1019101849524304e-05,
                        "pitch": 0.3231567144393921,
                        "yaw": 90.10160064697266
                    }
                },
                "velocity": {
                    "x": -0.004021856002509594,
                    "y": 3.3164405822753906,
                    "z": 0.023746222257614136
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.8811244964599609,
                "transform": {
                    "location": {
                        "x": 2185.017333984375,
                        "y": 2494.4111328125,
                        "z": 365.04736328125
                    },
                    "rotation": {
                        "roll": -0.0012207248946651816,
                        "pitch": 0.39325493574142456,
                        "yaw": 90.12664031982422
                    }
                },
                "velocity": {
                    "x": -0.0013636060757562518,
                    "y": 0.8811118006706238,
                    "z": 0.004529666621237993
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.250238418579102,
                "transform": {
                    "location": {
                        "x": 2228.969970703125,
                        "y": 2524.28076171875,
                        "z": 366.31732177734375
                    },
                    "rotation": {
                        "roll": -0.002075194614008069,
                        "pitch": -1.709377646446228,
                        "yaw": -179.7763671875
                    }
                },
                "velocity": {
                    "x": -8.246255874633789,
                    "y": -0.028528401628136635,
                    "z": -0.2547094523906708
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.23775862157344818,
        "expert_target_speed": 0.0,
        "target_point": [
            11.773392022979028,
            8.711746228599631
        ],
        "target_point_next": [
            11.750636789167663,
            36.71180457376556
        ]
    },
    "285": {
        "acceleration": [
            -0.0014644087059423327,
            -0.0014367292169481516,
            0.0012913270620629191
        ],
        "angular_velocity": [
            0.15920300781726837,
            -0.02866416797041893,
            -2.5867811928037554e-05
        ],
        "forward_vector": [
            0.0029912623576819897,
            0.9999927878379822,
            0.002346394117921591
        ],
        "right_vector": [
            -0.9999955296516418,
            0.0029912705067545176,
            -4.947650822373362e-08
        ],
        "location": [
            2184.84521484375,
            2512.6650390625,
            365.1246032714844
        ],
        "rotation": [
            2.834802899087663e-06,
            0.13443860411643982,
            89.82861328125
        ],
        "velocity": [
            -9.97219976852648e-05,
            -0.0005224646301940084,
            -0.00018353608902543783
        ],
        "speed": 0.0005318963871151052,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.91064453125,
        "front_vehicle_info": {
            "id": 48775,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2168.569580078125,
                2527.331298828125,
                364.84027099609375
            ],
            "velocity": [
                4.2870001792907715,
                -0.009317323565483093,
                0.06290794163942337
            ],
            "speed_kmh": 15.434898615639488,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 48777,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.006909917574375868,
                "transform": {
                    "location": {
                        "x": 2187.9140625,
                        "y": 2539.998291015625,
                        "z": 365.1639404296875
                    },
                    "rotation": {
                        "roll": -0.004669175483286381,
                        "pitch": -0.9041121006011963,
                        "yaw": -90.05657958984375
                    }
                },
                "velocity": {
                    "x": 0.0008958808030001819,
                    "y": -0.006613250821828842,
                    "z": -0.0017914428608492017
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.07736587524414,
                "transform": {
                    "location": {
                        "x": 2149.10791015625,
                        "y": 2527.3623046875,
                        "z": 364.7887878417969
                    },
                    "rotation": {
                        "roll": 0.0029785677324980497,
                        "pitch": -0.20409969985485077,
                        "yaw": 0.015843326225876808
                    }
                },
                "velocity": {
                    "x": 8.077310562133789,
                    "y": -0.0046968949027359486,
                    "z": -0.02950963005423546
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.08953975141048431,
                "transform": {
                    "location": {
                        "x": 2185.040771484375,
                        "y": 2469.68115234375,
                        "z": 364.8747863769531
                    },
                    "rotation": {
                        "roll": 0.002948935842141509,
                        "pitch": -0.5488534569740295,
                        "yaw": 89.99401092529297
                    }
                },
                "velocity": {
                    "x": -0.00036718740011565387,
                    "y": 0.08953558653593063,
                    "z": -0.0007813834818080068
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48775,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.287471771240234,
                "transform": {
                    "location": {
                        "x": 2168.569580078125,
                        "y": 2527.331298828125,
                        "z": 364.84027099609375
                    },
                    "rotation": {
                        "roll": 0.00020126560411881655,
                        "pitch": 0.9265970587730408,
                        "yaw": -0.124481201171875
                    }
                },
                "velocity": {
                    "x": 4.2870001792907715,
                    "y": -0.009317323565483093,
                    "z": 0.06290794163942337
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.566864013671875,
                "transform": {
                    "location": {
                        "x": 2206.772705078125,
                        "y": 2524.29638671875,
                        "z": 365.6676025390625
                    },
                    "rotation": {
                        "roll": 0.002826202427968383,
                        "pitch": -1.5398523807525635,
                        "yaw": 179.7826385498047
                    }
                },
                "velocity": {
                    "x": -4.565227031707764,
                    "y": 0.011101731099188328,
                    "z": -0.12176406383514404
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.483033180236816,
                "transform": {
                    "location": {
                        "x": 2187.896728515625,
                        "y": 2555.955810546875,
                        "z": 365.1493225097656
                    },
                    "rotation": {
                        "roll": 0.0005705315270461142,
                        "pitch": 0.08738543838262558,
                        "yaw": -89.8941879272461
                    }
                },
                "velocity": {
                    "x": 0.010894440114498138,
                    "y": -6.483001708984375,
                    "z": 0.017016716301441193
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.2865196466445923,
                "transform": {
                    "location": {
                        "x": 2185.078857421875,
                        "y": 2453.943603515625,
                        "z": 364.6978759765625
                    },
                    "rotation": {
                        "roll": 0.005685805808752775,
                        "pitch": 0.3403073251247406,
                        "yaw": 90.64071655273438
                    }
                },
                "velocity": {
                    "x": 0.0009258762001991272,
                    "y": 1.286438226699829,
                    "z": 0.014446830376982689
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00027510387008078396,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.002757342765107751,
                        "pitch": 0.217725932598114,
                        "yaw": -179.82470703125
                    }
                },
                "velocity": {
                    "x": 4.144534159422619e-06,
                    "y": 2.0100880249174224e-07,
                    "z": -0.000275072583463043
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.000958482560236007,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0011209369404241443,
                        "pitch": 0.2196042239665985,
                        "yaw": 179.8744354248047
                    }
                },
                "velocity": {
                    "x": 6.683915671601426e-06,
                    "y": 5.926956146140583e-05,
                    "z": -0.0009566249209456146
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.2555652856826782,
                "transform": {
                    "location": {
                        "x": 2187.77880859375,
                        "y": 2576.186279296875,
                        "z": 365.0447082519531
                    },
                    "rotation": {
                        "roll": -0.008392329327762127,
                        "pitch": 0.5605536103248596,
                        "yaw": -89.87567138671875
                    }
                },
                "velocity": {
                    "x": 0.019425423815846443,
                    "y": -1.2537680864334106,
                    "z": 0.06428388506174088
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.439016819000244,
                "transform": {
                    "location": {
                        "x": 2185.027099609375,
                        "y": 2483.05859375,
                        "z": 364.9743347167969
                    },
                    "rotation": {
                        "roll": 0.0018090236699208617,
                        "pitch": 0.29673072695732117,
                        "yaw": 90.09823608398438
                    }
                },
                "velocity": {
                    "x": -0.007676959969103336,
                    "y": 4.438902378082275,
                    "z": 0.030939215794205666
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.6158584356307983,
                "transform": {
                    "location": {
                        "x": 2185.017333984375,
                        "y": 2494.728759765625,
                        "z": 365.0502014160156
                    },
                    "rotation": {
                        "roll": -0.0011596785625442863,
                        "pitch": 0.28063878417015076,
                        "yaw": 90.13224029541016
                    }
                },
                "velocity": {
                    "x": -0.003152935765683651,
                    "y": 1.6158273220062256,
                    "z": 0.009522933512926102
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.915282726287842,
                "transform": {
                    "location": {
                        "x": 2226.963134765625,
                        "y": 2524.275146484375,
                        "z": 366.25506591796875
                    },
                    "rotation": {
                        "roll": -0.003967284690588713,
                        "pitch": -1.794188141822815,
                        "yaw": -179.84706115722656
                    }
                },
                "velocity": {
                    "x": -7.911387920379639,
                    "y": -0.02026071958243847,
                    "z": -0.24744552373886108
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.23667538166046143,
        "expert_target_speed": 0.0,
        "target_point": [
            11.773250600590723,
            8.71127600320575
        ],
        "target_point_next": [
            11.751610214396043,
            36.71133523219753
        ]
    },
    "290": {
        "acceleration": [
            -0.002119127893820405,
            0.0004224420990794897,
            0.0018405006267130375
        ],
        "angular_velocity": [
            0.09256430715322495,
            -0.03819962590932846,
            -6.899001164129004e-05
        ],
        "forward_vector": [
            0.002991138491779566,
            0.999991238117218,
            0.002927775727584958
        ],
        "right_vector": [
            -0.9999955296516418,
            0.0029911387246102095,
            4.261033609509468e-06
        ],
        "location": [
            2184.84521484375,
            2512.66552734375,
            365.1244812011719
        ],
        "rotation": [
            -0.00024414027575403452,
            0.16774943470954895,
            89.82862091064453
        ],
        "velocity": [
            -0.00013967245467938483,
            -0.00030557563877664506,
            -0.0005431659519672394
        ],
        "speed": 0.0003359834305585909,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.16998863220215,
        "front_vehicle_info": {
            "id": 48775,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2169.578369140625,
                2527.3291015625,
                364.8571472167969
            ],
            "velocity": [
                3.827237367630005,
                -0.008274771273136139,
                0.0668245479464531
            ],
            "speed_kmh": 13.780186754489138,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 48777,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00616435706615448,
                "transform": {
                    "location": {
                        "x": 2187.9140625,
                        "y": 2539.99609375,
                        "z": 365.1623840332031
                    },
                    "rotation": {
                        "roll": -0.0007934533059597015,
                        "pitch": -0.5051539540290833,
                        "yaw": -90.0567855834961
                    }
                },
                "velocity": {
                    "x": 8.610590157331899e-05,
                    "y": 0.006148700602352619,
                    "z": -0.0004305355832912028
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.359635829925537,
                "transform": {
                    "location": {
                        "x": 2151.03955078125,
                        "y": 2527.361083984375,
                        "z": 364.7823791503906
                    },
                    "rotation": {
                        "roll": 0.001953828614205122,
                        "pitch": -0.2543562352657318,
                        "yaw": -0.03472900390625
                    }
                },
                "velocity": {
                    "x": 7.359615802764893,
                    "y": -0.005818069912493229,
                    "z": -0.016178837046027184
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.8307627439498901,
                "transform": {
                    "location": {
                        "x": 2185.04150390625,
                        "y": 2469.82275390625,
                        "z": 364.86737060546875
                    },
                    "rotation": {
                        "roll": 0.003874450922012329,
                        "pitch": 0.5199481248855591,
                        "yaw": 90.0561752319336
                    }
                },
                "velocity": {
                    "x": -0.0006613791338168085,
                    "y": 0.8307285308837891,
                    "z": 0.0075104995630681515
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48775,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.827829599380493,
                "transform": {
                    "location": {
                        "x": 2169.578369140625,
                        "y": 2527.3291015625,
                        "z": 364.8571472167969
                    },
                    "rotation": {
                        "roll": -0.00048828116268850863,
                        "pitch": 0.8727273941040039,
                        "yaw": -0.1245117112994194
                    }
                },
                "velocity": {
                    "x": 3.827237367630005,
                    "y": -0.008274771273136139,
                    "z": 0.0668245479464531
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.441461563110352,
                "transform": {
                    "location": {
                        "x": 2205.6474609375,
                        "y": 2524.300048828125,
                        "z": 365.6378479003906
                    },
                    "rotation": {
                        "roll": 0.0007092909072525799,
                        "pitch": -1.524101972579956,
                        "yaw": 179.82449340820312
                    }
                },
                "velocity": {
                    "x": -4.440001487731934,
                    "y": 0.010459627024829388,
                    "z": -0.11339046061038971
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.374835014343262,
                "transform": {
                    "location": {
                        "x": 2187.89892578125,
                        "y": 2554.387939453125,
                        "z": 365.1540222167969
                    },
                    "rotation": {
                        "roll": 0.0015204244991764426,
                        "pitch": 0.01140641514211893,
                        "yaw": -89.91273498535156
                    }
                },
                "velocity": {
                    "x": 0.0075797829777002335,
                    "y": -5.374808311462402,
                    "z": 0.01512877456843853
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.304365396499634,
                "transform": {
                    "location": {
                        "x": 2185.075927734375,
                        "y": 2454.377197265625,
                        "z": 364.7007751464844
                    },
                    "rotation": {
                        "roll": 0.0039009940810501575,
                        "pitch": 0.5934887528419495,
                        "yaw": 90.56393432617188
                    }
                },
                "velocity": {
                    "x": -0.019076574593782425,
                    "y": 2.30414080619812,
                    "z": 0.025912655517458916
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.4802661907160655e-05,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.002757342765107751,
                        "pitch": 0.217725932598114,
                        "yaw": -179.82470703125
                    }
                },
                "velocity": {
                    "x": 5.339831204764778e-06,
                    "y": -1.2021525435557123e-05,
                    "z": -5.320057243807241e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0005681617767550051,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0011209369404241443,
                        "pitch": 0.2196042239665985,
                        "yaw": 179.8744354248047
                    }
                },
                "velocity": {
                    "x": -2.3074708224157803e-05,
                    "y": -1.3736920664086938e-05,
                    "z": -0.0005675267893821001
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.6057093143463135,
                "transform": {
                    "location": {
                        "x": 2187.784423828125,
                        "y": 2575.6953125,
                        "z": 365.05426025390625
                    },
                    "rotation": {
                        "roll": -0.00021361629478633404,
                        "pitch": 0.6277216672897339,
                        "yaw": -89.72640991210938
                    }
                },
                "velocity": {
                    "x": 0.023045549169182777,
                    "y": -2.6054863929748535,
                    "z": 0.025093993172049522
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.3352766036987305,
                "transform": {
                    "location": {
                        "x": 2185.02490234375,
                        "y": 2484.22412109375,
                        "z": 364.98175048828125
                    },
                    "rotation": {
                        "roll": 0.0011335574090480804,
                        "pitch": 0.3903794288635254,
                        "yaw": 90.08734130859375
                    }
                },
                "velocity": {
                    "x": -0.006992522161453962,
                    "y": 4.3351545333862305,
                    "z": 0.031744278967380524
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.5681648850440979,
                "transform": {
                    "location": {
                        "x": 2185.0166015625,
                        "y": 2494.932373046875,
                        "z": 365.0502624511719
                    },
                    "rotation": {
                        "roll": -0.0006714189657941461,
                        "pitch": 0.4360733926296234,
                        "yaw": 90.00985717773438
                    }
                },
                "velocity": {
                    "x": 0.00039825920248404145,
                    "y": 0.5681560635566711,
                    "z": 0.00314641953445971
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.12513256072998,
                "transform": {
                    "location": {
                        "x": 2224.95947265625,
                        "y": 2524.2724609375,
                        "z": 366.1932678222656
                    },
                    "rotation": {
                        "roll": 0.0007088823476806283,
                        "pitch": -1.740598440170288,
                        "yaw": -179.93836975097656
                    }
                },
                "velocity": {
                    "x": -8.121338844299316,
                    "y": -0.004850903991609812,
                    "z": -0.24822385609149933
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.2384202778339386,
        "expert_target_speed": 0.0,
        "target_point": [
            11.772762321494453,
            8.71127455294849
        ],
        "target_point_next": [
            11.751121935299773,
            36.71133378194026
        ]
    },
    "295": {
        "acceleration": [
            0.00011667860235320404,
            0.0007913101580925286,
            0.0030176485888659954
        ],
        "angular_velocity": [
            0.03133410960435867,
            0.009100306779146194,
            7.678003021283075e-05
        ],
        "forward_vector": [
            0.002991137094795704,
            0.9999907612800598,
            0.003094906685873866
        ],
        "right_vector": [
            -0.9999955296516418,
            0.002991131506860256,
            6.391549959516851e-06
        ],
        "location": [
            2184.84521484375,
            2512.66552734375,
            365.12445068359375
        ],
        "rotation": [
            -0.0003662105882540345,
            0.17732536792755127,
            89.82862091064453
        ],
        "velocity": [
            2.41967700276291e-05,
            -0.00010807938815560192,
            -6.218867929419503e-05
        ],
        "speed": 0.00011075485462885694,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.58845329284668,
        "front_vehicle_info": {
            "id": 48775,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2170.3935546875,
                2527.327392578125,
                364.8721923828125
            ],
            "velocity": [
                2.6515045166015625,
                -0.005897386930882931,
                0.045878276228904724
            ],
            "speed_kmh": 9.546868634720623,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 48777,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0026384934317320585,
                "transform": {
                    "location": {
                        "x": 2187.9140625,
                        "y": 2539.993896484375,
                        "z": 365.1611633300781
                    },
                    "rotation": {
                        "roll": 0.00019430118845775723,
                        "pitch": -0.18380720913410187,
                        "yaw": -90.05683898925781
                    }
                },
                "velocity": {
                    "x": 5.441947723738849e-05,
                    "y": 0.0024894820526242256,
                    "z": 0.0008724479121156037
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.016366481781006,
                "transform": {
                    "location": {
                        "x": 2152.82275390625,
                        "y": 2527.360107421875,
                        "z": 364.77825927734375
                    },
                    "rotation": {
                        "roll": -0.000579833984375,
                        "pitch": -0.13354384899139404,
                        "yaw": -0.0445556677877903
                    }
                },
                "velocity": {
                    "x": 7.016355991363525,
                    "y": -0.006960358936339617,
                    "z": -0.009992046281695366
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.8688740730285645,
                "transform": {
                    "location": {
                        "x": 2185.041259765625,
                        "y": 2470.048583984375,
                        "z": 364.867919921875
                    },
                    "rotation": {
                        "roll": 0.0005963247967883945,
                        "pitch": 0.6960235834121704,
                        "yaw": 90.04417419433594
                    }
                },
                "velocity": {
                    "x": -0.0011937138624489307,
                    "y": 0.8688286542892456,
                    "z": 0.008803158067166805
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48775,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.6519079208374023,
                "transform": {
                    "location": {
                        "x": 2170.3935546875,
                        "y": 2527.327392578125,
                        "z": 364.8721923828125
                    },
                    "rotation": {
                        "roll": -0.000518798828125,
                        "pitch": 0.6396676898002625,
                        "yaw": -0.1249084398150444
                    }
                },
                "velocity": {
                    "x": 2.6515045166015625,
                    "y": -0.005897386930882931,
                    "z": 0.045878276228904724
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.196300029754639,
                "transform": {
                    "location": {
                        "x": 2204.56982421875,
                        "y": 2524.302490234375,
                        "z": 365.6102600097656
                    },
                    "rotation": {
                        "roll": 0.0006869010394439101,
                        "pitch": -1.4792754650115967,
                        "yaw": 179.85317993164062
                    }
                },
                "velocity": {
                    "x": -4.194934368133545,
                    "y": 0.008541872724890709,
                    "z": -0.10670921951532364
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0020041370298713446,
                "transform": {
                    "location": {
                        "x": 2187.899658203125,
                        "y": 2553.87939453125,
                        "z": 365.16400146484375
                    },
                    "rotation": {
                        "roll": -3.052791362279095e-05,
                        "pitch": -1.0881993770599365,
                        "yaw": -89.9179458618164
                    }
                },
                "velocity": {
                    "x": 5.7004759582923725e-05,
                    "y": -0.0009732329053804278,
                    "z": -0.0017510378966107965
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.0922183990478516,
                "transform": {
                    "location": {
                        "x": 2185.072021484375,
                        "y": 2455.116455078125,
                        "z": 364.7084045410156
                    },
                    "rotation": {
                        "roll": 0.004413833376020193,
                        "pitch": 0.6428710222244263,
                        "yaw": 90.43341064453125
                    }
                },
                "velocity": {
                    "x": -0.019201653078198433,
                    "y": 3.0919902324676514,
                    "z": 0.032290466129779816
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.528488741721958e-05,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.78143310546875
                    },
                    "rotation": {
                        "roll": 0.0026208958588540554,
                        "pitch": 0.2176986038684845,
                        "yaw": -179.8246307373047
                    }
                },
                "velocity": {
                    "x": 5.805492492072517e-06,
                    "y": 7.985477168404032e-06,
                    "z": -3.387553078937344e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0004596368526108563,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.00023492780746892095,
                        "pitch": 0.21938566863536835,
                        "yaw": 179.87451171875
                    }
                },
                "velocity": {
                    "x": 1.0552368621574715e-05,
                    "y": -7.884111255407333e-06,
                    "z": -0.00045944805606268346
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.210970401763916,
                "transform": {
                    "location": {
                        "x": 2187.792236328125,
                        "y": 2574.832763671875,
                        "z": 365.0606994628906
                    },
                    "rotation": {
                        "roll": -0.0019226155709475279,
                        "pitch": 0.6685525178909302,
                        "yaw": -89.6029281616211
                    }
                },
                "velocity": {
                    "x": 0.040265489369630814,
                    "y": -4.210687637329102,
                    "z": 0.027559909969568253
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.919692277908325,
                "transform": {
                    "location": {
                        "x": 2185.023681640625,
                        "y": 2485.118896484375,
                        "z": 364.9870300292969
                    },
                    "rotation": {
                        "roll": -0.000244109338382259,
                        "pitch": 0.5223864912986755,
                        "yaw": 90.08807373046875
                    }
                },
                "velocity": {
                    "x": -0.002734072506427765,
                    "y": 2.9196255207061768,
                    "z": 0.019558876752853394
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.343667984008789,
                "transform": {
                    "location": {
                        "x": 2185.0166015625,
                        "y": 2495.183349609375,
                        "z": 365.0529479980469
                    },
                    "rotation": {
                        "roll": 0.0007054262678138912,
                        "pitch": 0.29203155636787415,
                        "yaw": 89.99850463867188
                    }
                },
                "velocity": {
                    "x": -0.0022438769228756428,
                    "y": 1.3436466455459595,
                    "z": 0.007233066484332085
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.762656211853027,
                "transform": {
                    "location": {
                        "x": 2222.960693359375,
                        "y": 2524.272216796875,
                        "z": 366.1322326660156
                    },
                    "rotation": {
                        "roll": -0.0009155272273346782,
                        "pitch": -1.80010986328125,
                        "yaw": 179.99876403808594
                    }
                },
                "velocity": {
                    "x": -7.759008407592773,
                    "y": 0.0013532113516703248,
                    "z": -0.2379416674375534
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.450000286102295,
                "transform": {
                    "location": {
                        "x": 2135.974853515625,
                        "y": 2527.302490234375,
                        "z": 364.8865051269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2181084156036377,
                        "yaw": -0.125946044921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -2.450000286102295
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.23690198361873627,
        "expert_target_speed": 0.0,
        "target_point": [
            11.772415464902746,
            8.711743289202568
        ],
        "target_point_next": [
            11.749660231091381,
            36.7118016343685
        ]
    },
    "300": {
        "acceleration": [
            0.001199047197587788,
            0.0012164603685960174,
            0.0015317752258852124
        ],
        "angular_velocity": [
            0.0016673384234309196,
            -1.2004947166133206e-05,
            3.864624159177765e-05
        ],
        "forward_vector": [
            0.002991613233461976,
            0.9999905824661255,
            0.0031484311912208796
        ],
        "right_vector": [
            -0.9999955296516418,
            0.0029916029889136553,
            7.989466212166008e-06
        ],
        "location": [
            2184.84521484375,
            2512.66552734375,
            365.12445068359375
        ],
        "rotation": [
            -0.0004577649524435401,
            0.18039211630821228,
            89.8285903930664
        ],
        "velocity": [
            2.2450402425988614e-08,
            -1.1512935088831e-05,
            -2.4591240617155563e-06
        ],
        "speed": 1.1512956978127086e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.37070655822754,
        "front_vehicle_info": {
            "id": 48775,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2170.704345703125,
                2527.326416015625,
                364.8797302246094
            ],
            "velocity": [
                -0.000526870833709836,
                -1.1139521120639984e-05,
                -6.913180550327525e-05
            ],
            "speed_kmh": 0.0019134132785591318,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": 2236.935546875,
                        "y": 2524.330322265625,
                        "z": 366.91058349609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.7185369729995728,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 5.7579461198997706e-09,
                    "y": -1.2657938933124946e-11,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48777,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0015067642088979483,
                "transform": {
                    "location": {
                        "x": 2187.9140625,
                        "y": 2539.9931640625,
                        "z": 365.1607666015625
                    },
                    "rotation": {
                        "roll": -0.00045776308979839087,
                        "pitch": -0.07232487201690674,
                        "yaw": -90.056884765625
                    }
                },
                "velocity": {
                    "x": -3.222743998776423e-06,
                    "y": 0.0007746384362690151,
                    "z": 0.001292386674322188
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.847809791564941,
                "transform": {
                    "location": {
                        "x": 2154.560791015625,
                        "y": 2527.357666015625,
                        "z": 364.7756652832031
                    },
                    "rotation": {
                        "roll": 0.0007469129050150514,
                        "pitch": -0.05996222794055939,
                        "yaw": -0.07391357421875
                    }
                },
                "velocity": {
                    "x": 6.847799301147461,
                    "y": -0.010439876466989517,
                    "z": -0.005411644000560045
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.0371843576431274,
                "transform": {
                    "location": {
                        "x": 2185.041259765625,
                        "y": 2470.267822265625,
                        "z": 364.8714294433594
                    },
                    "rotation": {
                        "roll": 0.00010696610843297094,
                        "pitch": 0.5127900838851929,
                        "yaw": 90.04596710205078
                    }
                },
                "velocity": {
                    "x": -0.0005714849103242159,
                    "y": 1.037132740020752,
                    "z": 0.010321883484721184
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48775,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0005315036978572607,
                "transform": {
                    "location": {
                        "x": 2170.704345703125,
                        "y": 2527.326416015625,
                        "z": 364.8797302246094
                    },
                    "rotation": {
                        "roll": 0.00028308029868640006,
                        "pitch": 0.05421120673418045,
                        "yaw": -0.11755368858575821
                    }
                },
                "velocity": {
                    "x": -0.000526870833709836,
                    "y": -1.1139521120639984e-05,
                    "z": -6.913180550327525e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.024126052856445,
                "transform": {
                    "location": {
                        "x": 2203.54296875,
                        "y": 2524.304443359375,
                        "z": 365.5838623046875
                    },
                    "rotation": {
                        "roll": 0.00036983087193220854,
                        "pitch": -1.4378913640975952,
                        "yaw": 179.86778259277344
                    }
                },
                "velocity": {
                    "x": -4.022789001464844,
                    "y": 0.008065380156040192,
                    "z": -0.10342734307050705
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.7189082503318787,
                "transform": {
                    "location": {
                        "x": 2187.89990234375,
                        "y": 2553.746826171875,
                        "z": 365.1555480957031
                    },
                    "rotation": {
                        "roll": -0.0034790015779435635,
                        "pitch": -0.04080354794859886,
                        "yaw": -89.94707489013672
                    }
                },
                "velocity": {
                    "x": 0.000709097133949399,
                    "y": -0.7189042568206787,
                    "z": 0.0022964859381318092
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.3557261228561401,
                "transform": {
                    "location": {
                        "x": 2185.063720703125,
                        "y": 2455.449462890625,
                        "z": 364.71240234375
                    },
                    "rotation": {
                        "roll": 0.0010575293563306332,
                        "pitch": 0.5615098476409912,
                        "yaw": 89.86567687988281
                    }
                },
                "velocity": {
                    "x": -0.003436019644141197,
                    "y": 1.355619192123413,
                    "z": 0.016678590327501297
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00039081269642338157,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.0029225291218608618,
                        "pitch": 0.2176644504070282,
                        "yaw": -179.8246307373047
                    }
                },
                "velocity": {
                    "x": 7.377266683761263e-06,
                    "y": -1.4853479115117807e-05,
                    "z": -0.0003904606564901769
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0006603114889003336,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.00023492780746892095,
                        "pitch": 0.21938566863536835,
                        "yaw": 179.87451171875
                    }
                },
                "velocity": {
                    "x": 2.887757364078425e-05,
                    "y": 1.588291888765525e-05,
                    "z": -0.0006594884907826781
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.3323493003845215,
                "transform": {
                    "location": {
                        "x": 2187.804443359375,
                        "y": 2573.601806640625,
                        "z": 365.06854248046875
                    },
                    "rotation": {
                        "roll": -0.0014343702932819724,
                        "pitch": 0.6200445294380188,
                        "yaw": -89.47865295410156
                    }
                },
                "velocity": {
                    "x": 0.0546591654419899,
                    "y": -5.331974983215332,
                    "z": 0.031713809818029404
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.3911657333374023,
                "transform": {
                    "location": {
                        "x": 2185.02392578125,
                        "y": 2485.687255859375,
                        "z": 364.9906921386719
                    },
                    "rotation": {
                        "roll": 0.0027821112889796495,
                        "pitch": 0.524879515171051,
                        "yaw": 90.12674713134766
                    }
                },
                "velocity": {
                    "x": -0.009052134118974209,
                    "y": 1.3911073207855225,
                    "z": 0.008985595777630806
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.6982312798500061,
                "transform": {
                    "location": {
                        "x": 2185.0166015625,
                        "y": 2495.31201171875,
                        "z": 365.0530700683594
                    },
                    "rotation": {
                        "roll": -3.052305328310467e-05,
                        "pitch": 0.3740006387233734,
                        "yaw": 89.99594116210938
                    }
                },
                "velocity": {
                    "x": -0.001725285779684782,
                    "y": 0.6982209086418152,
                    "z": 0.0033922099974006414
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.260814666748047,
                "transform": {
                    "location": {
                        "x": 2221.093994140625,
                        "y": 2524.2724609375,
                        "z": 366.0751953125
                    },
                    "rotation": {
                        "roll": -0.00015258786152116954,
                        "pitch": -1.8262627124786377,
                        "yaw": 179.9777069091797
                    }
                },
                "velocity": {
                    "x": -7.25754451751709,
                    "y": 0.005078543908894062,
                    "z": -0.217831552028656
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.15813252329826355,
                "transform": {
                    "location": {
                        "x": 2135.974365234375,
                        "y": 2527.302490234375,
                        "z": 364.7567443847656
                    },
                    "rotation": {
                        "roll": 0.001239141565747559,
                        "pitch": -0.2181698977947235,
                        "yaw": -0.1259765475988388
                    }
                },
                "velocity": {
                    "x": 0.0006047072820365429,
                    "y": 1.8611450286698528e-05,
                    "z": 0.15813136100769043
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.23669788241386414,
        "expert_target_speed": 0.0,
        "target_point": [
            11.772587857038621,
            8.711510326203726
        ],
        "target_point_next": [
            11.750386709164081,
            36.71156911618477
        ]
    },
    "305": {
        "acceleration": [
            -0.001527502667158842,
            0.00022760184947401285,
            -0.009190473705530167
        ],
        "angular_velocity": [
            0.004306331742554903,
            0.0015053123934194446,
            4.896337850368582e-05
        ],
        "forward_vector": [
            0.002991493558511138,
            0.9999904036521912,
            0.003210181137546897
        ],
        "right_vector": [
            -0.9999955296516418,
            0.002991493558511138,
            4.793749667442171e-06
        ],
        "location": [
            2184.84521484375,
            2512.66552734375,
            365.1244201660156
        ],
        "rotation": [
            -0.0002746630343608558,
            0.1839301586151123,
            89.82859802246094
        ],
        "velocity": [
            3.840861609205604e-06,
            -1.8625649317982607e-05,
            -0.0005247102817520499
        ],
        "speed": 1.9017545331023544e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.368865966796875,
        "front_vehicle_info": {
            "id": 48775,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2170.70703125,
                2527.326416015625,
                364.87786865234375
            ],
            "velocity": [
                -0.0058954996056854725,
                -0.00015098677249625325,
                0.000496573222335428
            ],
            "speed_kmh": 0.02130588689830491,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.40373292565345764,
                "transform": {
                    "location": {
                        "x": 2236.938720703125,
                        "y": 2524.330322265625,
                        "z": 366.52587890625
                    },
                    "rotation": {
                        "roll": -0.00039672860293649137,
                        "pitch": -1.777795672416687,
                        "yaw": 179.87417602539062
                    }
                },
                "velocity": {
                    "x": 0.011737861670553684,
                    "y": 0.00021316349739208817,
                    "z": -0.4035622179508209
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48777,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0005739653715863824,
                "transform": {
                    "location": {
                        "x": 2187.9140625,
                        "y": 2539.99267578125,
                        "z": 365.16064453125
                    },
                    "rotation": {
                        "roll": -0.0009765655267983675,
                        "pitch": -0.04367222636938095,
                        "yaw": -90.05684661865234
                    }
                },
                "velocity": {
                    "x": -3.6040935810888186e-05,
                    "y": 0.000289652292849496,
                    "z": 0.0004942052764818072
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.4385199546813965,
                "transform": {
                    "location": {
                        "x": 2156.22314453125,
                        "y": 2527.35498046875,
                        "z": 364.7757263183594
                    },
                    "rotation": {
                        "roll": -6.103515261202119e-05,
                        "pitch": -0.0365278497338295,
                        "yaw": -0.0853881686925888
                    }
                },
                "velocity": {
                    "x": 6.43848180770874,
                    "y": -0.009654687717556953,
                    "z": 0.020050859078764915
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.3728365898132324,
                "transform": {
                    "location": {
                        "x": 2185.041259765625,
                        "y": 2470.67529296875,
                        "z": 364.87335205078125
                    },
                    "rotation": {
                        "roll": -0.00024411889899056405,
                        "pitch": 0.7278317213058472,
                        "yaw": 90.02928161621094
                    }
                },
                "velocity": {
                    "x": -0.003082173177972436,
                    "y": 2.37274432182312,
                    "z": 0.020680798217654228
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48775,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0059183016419410706,
                "transform": {
                    "location": {
                        "x": 2170.70703125,
                        "y": 2527.326416015625,
                        "z": 364.87786865234375
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.5502263307571411,
                        "yaw": -0.11767575889825821
                    }
                },
                "velocity": {
                    "x": -0.0058954996056854725,
                    "y": -0.00015098677249625325,
                    "z": 0.000496573222335428
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.829029083251953,
                "transform": {
                    "location": {
                        "x": 2202.5625,
                        "y": 2524.306396484375,
                        "z": 365.5589294433594
                    },
                    "rotation": {
                        "roll": 0.0007996806525625288,
                        "pitch": -1.4167450666427612,
                        "yaw": 179.8822479248047
                    }
                },
                "velocity": {
                    "x": -3.827848434448242,
                    "y": 0.0065823267214000225,
                    "z": -0.09485145658254623
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.8618687987327576,
                "transform": {
                    "location": {
                        "x": 2187.899658203125,
                        "y": 2553.52783203125,
                        "z": 365.153076171875
                    },
                    "rotation": {
                        "roll": -0.0009460649453103542,
                        "pitch": 0.3443303108215332,
                        "yaw": -89.9248046875
                    }
                },
                "velocity": {
                    "x": 0.0011169487843289971,
                    "y": -0.8618655800819397,
                    "z": 0.0020676993299275637
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.7914328575134277,
                "transform": {
                    "location": {
                        "x": 2185.057861328125,
                        "y": 2455.826416015625,
                        "z": 364.7161560058594
                    },
                    "rotation": {
                        "roll": -0.005737292114645243,
                        "pitch": 0.5924505591392517,
                        "yaw": 89.4868392944336
                    }
                },
                "velocity": {
                    "x": -0.00912357959896326,
                    "y": 1.7912729978561401,
                    "z": 0.02212420478463173
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.474673086311668e-05,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.0029225291218608618,
                        "pitch": 0.2176644504070282,
                        "yaw": -179.8246307373047
                    }
                },
                "velocity": {
                    "x": 5.187652732274728e-06,
                    "y": -6.50412744107598e-07,
                    "z": -8.458530646748841e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00019899332255590707,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.001094680861569941,
                        "pitch": 0.21982279419898987,
                        "yaw": 179.8745574951172
                    }
                },
                "velocity": {
                    "x": 3.4790111840266036e-06,
                    "y": -1.881197385955602e-05,
                    "z": -0.00019807157514151186
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.878871917724609,
                "transform": {
                    "location": {
                        "x": 2187.8203125,
                        "y": 2572.177490234375,
                        "z": 365.0767517089844
                    },
                    "rotation": {
                        "roll": -0.00442508002743125,
                        "pitch": 0.48507317900657654,
                        "yaw": -89.24676513671875
                    }
                },
                "velocity": {
                    "x": 0.0693792775273323,
                    "y": -5.878366470336914,
                    "z": 0.03358921781182289
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0010931659489870071,
                "transform": {
                    "location": {
                        "x": 2185.023681640625,
                        "y": 2485.71923828125,
                        "z": 364.990966796875
                    },
                    "rotation": {
                        "roll": 0.0012158771278336644,
                        "pitch": 0.5201120376586914,
                        "yaw": 90.1400375366211
                    }
                },
                "velocity": {
                    "x": -4.419694596435875e-05,
                    "y": -0.0010868973331525922,
                    "z": -0.00010822444164659828
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.523594319820404,
                "transform": {
                    "location": {
                        "x": 2185.01611328125,
                        "y": 2495.451904296875,
                        "z": 365.0538635253906
                    },
                    "rotation": {
                        "roll": -0.0009155454463325441,
                        "pitch": 0.3792189061641693,
                        "yaw": 89.99029541015625
                    }
                },
                "velocity": {
                    "x": -0.00120404118206352,
                    "y": 0.5235824584960938,
                    "z": 0.00331363664008677
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.023806571960449,
                "transform": {
                    "location": {
                        "x": 2219.31005859375,
                        "y": 2524.2744140625,
                        "z": 366.0224609375
                    },
                    "rotation": {
                        "roll": 0.0001348685909761116,
                        "pitch": -1.7240557670593262,
                        "yaw": 179.93605041503906
                    }
                },
                "velocity": {
                    "x": -7.020713806152344,
                    "y": 0.00893333274871111,
                    "z": -0.20822300016880035
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.2730326652526855,
                "transform": {
                    "location": {
                        "x": 2136.07568359375,
                        "y": 2527.303466796875,
                        "z": 364.7851867675781
                    },
                    "rotation": {
                        "roll": -0.00433349609375,
                        "pitch": -0.14452679455280304,
                        "yaw": -0.1054382249712944
                    }
                },
                "velocity": {
                    "x": 1.2714285850524902,
                    "y": 0.014058851636946201,
                    "z": 0.062321510165929794
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.2373161017894745,
        "expert_target_speed": 0.0,
        "target_point": [
            11.772587857038621,
            8.711510326203726
        ],
        "target_point_next": [
            11.750386709164081,
            36.71156911618477
        ]
    },
    "310": {
        "acceleration": [
            -0.00015137185982894152,
            -7.760594598948956e-05,
            -0.00047171954065561295
        ],
        "angular_velocity": [
            0.0090330233797431,
            0.013874677941203117,
            8.769882697379217e-05
        ],
        "forward_vector": [
            0.002991493558511138,
            0.9999904036521912,
            0.003210181137546897
        ],
        "right_vector": [
            -0.9999955296516418,
            0.002991493558511138,
            4.793749667442171e-06
        ],
        "location": [
            2184.84521484375,
            2512.66552734375,
            365.1244201660156
        ],
        "rotation": [
            -0.0002746630343608558,
            0.1839301586151123,
            89.82859802246094
        ],
        "velocity": [
            3.1490333640249446e-05,
            -3.510860551614314e-05,
            -0.00016362761380150914
        ],
        "speed": 4.716201113250349e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.367353439331055,
        "front_vehicle_info": {
            "id": 48775,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2170.709228515625,
                2527.326416015625,
                364.8768310546875
            ],
            "velocity": [
                -0.0022778462152928114,
                0.00010411933180876076,
                0.0011707884259521961
            ],
            "speed_kmh": 0.0092276432534772,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.12714071571826935,
                "transform": {
                    "location": {
                        "x": 2236.93798828125,
                        "y": 2524.330322265625,
                        "z": 366.5426330566406
                    },
                    "rotation": {
                        "roll": -0.0002746580576058477,
                        "pitch": -1.7730350494384766,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": -0.006006746087223291,
                    "y": 0.0007992701139301062,
                    "z": 0.1269962340593338
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48777,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.71646240435075e-05,
                "transform": {
                    "location": {
                        "x": 2187.9140625,
                        "y": 2539.99267578125,
                        "z": 365.1606140136719
                    },
                    "rotation": {
                        "roll": -0.0004272470250725746,
                        "pitch": -0.03052411414682865,
                        "yaw": -90.05684661865234
                    }
                },
                "velocity": {
                    "x": -1.1046521919411134e-08,
                    "y": 1.5862206055317074e-05,
                    "z": 2.2052372514735907e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.101805210113525,
                "transform": {
                    "location": {
                        "x": 2157.782958984375,
                        "y": 2527.3525390625,
                        "z": 364.7794189453125
                    },
                    "rotation": {
                        "roll": -0.000213623046875,
                        "pitch": 0.1722641885280609,
                        "yaw": -0.090728759765625
                    }
                },
                "velocity": {
                    "x": 6.101761341094971,
                    "y": -0.009701921604573727,
                    "z": 0.0209344569593668
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.069381237030029,
                "transform": {
                    "location": {
                        "x": 2185.0400390625,
                        "y": 2471.475830078125,
                        "z": 364.87884521484375
                    },
                    "rotation": {
                        "roll": -0.0007324165781028569,
                        "pitch": 0.9094601273536682,
                        "yaw": 90.04780578613281
                    }
                },
                "velocity": {
                    "x": -0.004522949457168579,
                    "y": 4.069228649139404,
                    "z": 0.034929655492305756
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48775,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0025632341857999563,
                "transform": {
                    "location": {
                        "x": 2170.709228515625,
                        "y": 2527.326416015625,
                        "z": 364.8768310546875
                    },
                    "rotation": {
                        "roll": 0.0001057550180121325,
                        "pitch": 0.8421007990837097,
                        "yaw": -0.11767575144767761
                    }
                },
                "velocity": {
                    "x": -0.0022778462152928114,
                    "y": 0.00010411933180876076,
                    "z": 0.0011707884259521961
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.6588971614837646,
                "transform": {
                    "location": {
                        "x": 2201.627685546875,
                        "y": 2524.30859375,
                        "z": 365.53607177734375
                    },
                    "rotation": {
                        "roll": -0.0007629395113326609,
                        "pitch": -1.4207475185394287,
                        "yaw": 179.8790283203125
                    }
                },
                "velocity": {
                    "x": -3.6577513217926025,
                    "y": 0.00833473913371563,
                    "z": -0.09118148684501648
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.0298110246658325,
                "transform": {
                    "location": {
                        "x": 2187.899658203125,
                        "y": 2553.3125,
                        "z": 365.1550598144531
                    },
                    "rotation": {
                        "roll": -0.00018310852465219796,
                        "pitch": 0.16560475528240204,
                        "yaw": -89.92066955566406
                    }
                },
                "velocity": {
                    "x": 0.0007856681477278471,
                    "y": -1.0298080444335938,
                    "z": 0.00236682896502316
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.6070683002471924,
                "transform": {
                    "location": {
                        "x": 2185.054931640625,
                        "y": 2456.135986328125,
                        "z": 364.71966552734375
                    },
                    "rotation": {
                        "roll": -0.00204468728043139,
                        "pitch": 0.5263548493385315,
                        "yaw": 89.28189849853516
                    }
                },
                "velocity": {
                    "x": -0.002496795728802681,
                    "y": 0.6070480942726135,
                    "z": 0.004280261695384979
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.103486132109538e-05,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.78143310546875
                    },
                    "rotation": {
                        "roll": 0.0023711402900516987,
                        "pitch": 0.21778057515621185,
                        "yaw": -179.8246307373047
                    }
                },
                "velocity": {
                    "x": 8.341893590113614e-06,
                    "y": 1.0565889169811271e-05,
                    "z": -6.974759162403643e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0006248323479667306,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.001094680861569941,
                        "pitch": 0.21982279419898987,
                        "yaw": 179.8745574951172
                    }
                },
                "velocity": {
                    "x": -1.8670074496185407e-05,
                    "y": -1.9346189219504595e-05,
                    "z": -0.0006242536474019289
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.821405410766602,
                "transform": {
                    "location": {
                        "x": 2187.838623046875,
                        "y": 2570.50927734375,
                        "z": 365.0860900878906
                    },
                    "rotation": {
                        "roll": 0.015588338486850262,
                        "pitch": 0.6638602018356323,
                        "yaw": -89.39167022705078
                    }
                },
                "velocity": {
                    "x": 0.06744099408388138,
                    "y": -7.820997714996338,
                    "z": 0.042729225009679794
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00012334152415860444,
                "transform": {
                    "location": {
                        "x": 2185.023681640625,
                        "y": 2485.71875,
                        "z": 364.9918212890625
                    },
                    "rotation": {
                        "roll": 0.0010291039943695068,
                        "pitch": 0.412468284368515,
                        "yaw": 90.14006805419922
                    }
                },
                "velocity": {
                    "x": -4.653693031286821e-05,
                    "y": -7.725983596174046e-05,
                    "z": 8.413300383836031e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.12839576601982117,
                "transform": {
                    "location": {
                        "x": 2185.0166015625,
                        "y": 2495.6123046875,
                        "z": 365.0546875
                    },
                    "rotation": {
                        "roll": -0.0006103561609052122,
                        "pitch": 0.39854833483695984,
                        "yaw": 90.01602935791016
                    }
                },
                "velocity": {
                    "x": -0.00015473415260203183,
                    "y": 0.12839369475841522,
                    "z": 0.0007132244063541293
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.695455551147461,
                "transform": {
                    "location": {
                        "x": 2217.59423828125,
                        "y": 2524.2763671875,
                        "z": 365.9724426269531
                    },
                    "rotation": {
                        "roll": -0.00015258775965776294,
                        "pitch": -1.6969877481460571,
                        "yaw": 179.9228515625
                    }
                },
                "velocity": {
                    "x": -6.692734241485596,
                    "y": 0.008991423062980175,
                    "z": -0.19066622853279114
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.6534156799316406,
                "transform": {
                    "location": {
                        "x": 2136.4375,
                        "y": 2527.307861328125,
                        "z": 364.7906188964844
                    },
                    "rotation": {
                        "roll": -0.002227783203125,
                        "pitch": -0.16757185757160187,
                        "yaw": 0.026965802535414696
                    }
                },
                "velocity": {
                    "x": 1.6532641649246216,
                    "y": 0.022290894761681557,
                    "z": 0.0020794200245290995
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.23565484583377838,
        "expert_target_speed": 0.0,
        "target_point": [
            11.772587857038621,
            8.711510326203726
        ],
        "target_point_next": [
            11.750386709164081,
            36.71156911618477
        ]
    },
    "315": {
        "acceleration": [
            -0.0001680181740084663,
            0.0009426518809050322,
            0.00489768385887146
        ],
        "angular_velocity": [
            -0.00652976892888546,
            0.00794895924627781,
            7.44969438528642e-05
        ],
        "forward_vector": [
            0.002991493558511138,
            0.9999904036521912,
            0.003210181137546897
        ],
        "right_vector": [
            -0.9999955296516418,
            0.002991493558511138,
            4.793749667442171e-06
        ],
        "location": [
            2184.84521484375,
            2512.66552734375,
            365.1244201660156
        ],
        "rotation": [
            -0.0002746630343608558,
            0.1839301586151123,
            89.82859802246094
        ],
        "velocity": [
            1.390471061313292e-05,
            1.4913938684912864e-05,
            3.340748298796825e-05
        ],
        "speed": 2.0390354198304445e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.36667823791504,
        "front_vehicle_info": {
            "id": 48775,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2170.710205078125,
                2527.326416015625,
                364.8765563964844
            ],
            "velocity": [
                -0.0007807697402313352,
                -0.0001244089799001813,
                0.0015175646403804421
            ],
            "speed_kmh": 0.006160189542034203,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.888214349746704,
                "transform": {
                    "location": {
                        "x": 2236.650146484375,
                        "y": 2524.326904296875,
                        "z": 366.5509948730469
                    },
                    "rotation": {
                        "roll": -0.0187683068215847,
                        "pitch": -1.5044242143630981,
                        "yaw": -179.92747497558594
                    }
                },
                "velocity": {
                    "x": -1.887838363647461,
                    "y": -0.02350843884050846,
                    "z": -0.029446052387356758
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48777,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0011545097222551703,
                "transform": {
                    "location": {
                        "x": 2187.9140625,
                        "y": 2539.99267578125,
                        "z": 365.16058349609375
                    },
                    "rotation": {
                        "roll": 0.00016277478425763547,
                        "pitch": -0.027095358818769455,
                        "yaw": -90.056884765625
                    }
                },
                "velocity": {
                    "x": 6.460338772740215e-05,
                    "y": 2.300310916325543e-05,
                    "z": 0.0011524711735546589
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.509625196456909,
                "transform": {
                    "location": {
                        "x": 2159.124755859375,
                        "y": 2527.350341796875,
                        "z": 364.78515625
                    },
                    "rotation": {
                        "roll": -0.000946044921875,
                        "pitch": 0.09758290648460388,
                        "yaw": -0.099945068359375
                    }
                },
                "velocity": {
                    "x": 3.509577512741089,
                    "y": -0.006173661444336176,
                    "z": 0.017231186851859093
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.410696983337402,
                "transform": {
                    "location": {
                        "x": 2185.0380859375,
                        "y": 2472.71484375,
                        "z": 364.8899230957031
                    },
                    "rotation": {
                        "roll": 4.963128958479501e-06,
                        "pitch": 0.8685063123703003,
                        "yaw": 90.05452728271484
                    }
                },
                "velocity": {
                    "x": -0.005328638944774866,
                    "y": 5.410490036010742,
                    "z": 0.04699966311454773
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48775,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.001711163786239922,
                "transform": {
                    "location": {
                        "x": 2170.710205078125,
                        "y": 2527.326416015625,
                        "z": 364.8765563964844
                    },
                    "rotation": {
                        "roll": -0.00042724600643850863,
                        "pitch": 0.9398749470710754,
                        "yaw": -0.1175842210650444
                    }
                },
                "velocity": {
                    "x": -0.0007807697402313352,
                    "y": -0.0001244089799001813,
                    "z": 0.0015175646403804421
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.731013536453247,
                "transform": {
                    "location": {
                        "x": 2200.810546875,
                        "y": 2524.310302734375,
                        "z": 365.51605224609375
                    },
                    "rotation": {
                        "roll": -0.0007629393367096782,
                        "pitch": -1.4410673379898071,
                        "yaw": 179.8843536376953
                    }
                },
                "velocity": {
                    "x": -2.730192184448242,
                    "y": 0.0049776253290474415,
                    "z": -0.06679059565067291
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.2292675971984863,
                "transform": {
                    "location": {
                        "x": 2187.899658203125,
                        "y": 2552.896240234375,
                        "z": 365.1545715332031
                    },
                    "rotation": {
                        "roll": 0.00018289769650436938,
                        "pitch": 0.34898850321769714,
                        "yaw": -89.90945434570312
                    }
                },
                "velocity": {
                    "x": 0.0029792827554047108,
                    "y": -2.2292628288269043,
                    "z": 0.003534469520673156
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.5168323516845703,
                "transform": {
                    "location": {
                        "x": 2185.054931640625,
                        "y": 2456.43408203125,
                        "z": 364.7224426269531
                    },
                    "rotation": {
                        "roll": -0.008056608028709888,
                        "pitch": 0.6255291700363159,
                        "yaw": 89.33670806884766
                    }
                },
                "velocity": {
                    "x": 0.004740553442388773,
                    "y": 1.5167380571365356,
                    "z": 0.01623014360666275
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.978205343941227e-05,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.78143310546875
                    },
                    "rotation": {
                        "roll": 0.0023711402900516987,
                        "pitch": 0.21778057515621185,
                        "yaw": -179.8246307373047
                    }
                },
                "velocity": {
                    "x": 5.260854777588975e-06,
                    "y": -1.3274141565489117e-05,
                    "z": -9.875514660961926e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00014119835395831615,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.001094680861569941,
                        "pitch": 0.21982279419898987,
                        "yaw": 179.8745574951172
                    }
                },
                "velocity": {
                    "x": -2.196539207943715e-05,
                    "y": -2.215100721514318e-05,
                    "z": -0.0001377092266920954
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.716464996337891,
                "transform": {
                    "location": {
                        "x": 2187.853271484375,
                        "y": 2568.49951171875,
                        "z": 365.0965881347656
                    },
                    "rotation": {
                        "roll": 0.013844366185367107,
                        "pitch": 0.36388513445854187,
                        "yaw": -89.59622192382812
                    }
                },
                "velocity": {
                    "x": 0.04990265145897865,
                    "y": -7.716203212738037,
                    "z": 0.03939514979720116
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003884063917212188,
                "transform": {
                    "location": {
                        "x": 2185.023681640625,
                        "y": 2485.718505859375,
                        "z": 364.991943359375
                    },
                    "rotation": {
                        "roll": 0.0013582132523879409,
                        "pitch": 0.39901962876319885,
                        "yaw": 90.14006805419922
                    }
                },
                "velocity": {
                    "x": 9.87431667454075e-06,
                    "y": -6.526879587909207e-05,
                    "z": -0.0003827557957265526
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.0300521850585938,
                "transform": {
                    "location": {
                        "x": 2185.01611328125,
                        "y": 2495.760986328125,
                        "z": 365.0563659667969
                    },
                    "rotation": {
                        "roll": -0.0010986486449837685,
                        "pitch": 0.30305546522140503,
                        "yaw": 89.98663330078125
                    }
                },
                "velocity": {
                    "x": -0.0006142709753476083,
                    "y": 1.0300320386886597,
                    "z": 0.006416072603315115
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.34767484664917,
                "transform": {
                    "location": {
                        "x": 2215.96875,
                        "y": 2524.27880859375,
                        "z": 365.9261169433594
                    },
                    "rotation": {
                        "roll": 0.00024200062034651637,
                        "pitch": -1.7015366554260254,
                        "yaw": 179.91244506835938
                    }
                },
                "velocity": {
                    "x": -6.345080375671387,
                    "y": 0.01061644870787859,
                    "z": -0.18115828931331635
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.9235432147979736,
                "transform": {
                    "location": {
                        "x": 2136.997802734375,
                        "y": 2527.31396484375,
                        "z": 364.7892150878906
                    },
                    "rotation": {
                        "roll": -0.003631591796875,
                        "pitch": -0.14428773522377014,
                        "yaw": 0.13724443316459656
                    }
                },
                "velocity": {
                    "x": 2.9232499599456787,
                    "y": 0.04018918797373772,
                    "z": -0.009942102245986462
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.23611491918563843,
        "expert_target_speed": 0.0,
        "target_point": [
            11.772587857038621,
            8.711510326203726
        ],
        "target_point_next": [
            11.750386709164081,
            36.71156911618477
        ]
    },
    "320": {
        "acceleration": [
            -0.0008518575341440737,
            -0.00046617351472377777,
            0.0032620003912597895
        ],
        "angular_velocity": [
            0.00010275548993377015,
            -0.0009550683316774666,
            4.1408566175960004e-05
        ],
        "forward_vector": [
            0.002991493558511138,
            0.9999904036521912,
            0.003210181137546897
        ],
        "right_vector": [
            -0.9999955296516418,
            0.002991493558511138,
            4.793749667442171e-06
        ],
        "location": [
            2184.84521484375,
            2512.66552734375,
            365.1244201660156
        ],
        "rotation": [
            -0.0002746630343608558,
            0.1839301586151123,
            89.82859802246094
        ],
        "velocity": [
            -2.10134612643742e-06,
            -7.372256277449196e-06,
            0.00023837875050958246
        ],
        "speed": 7.665886652141592e-06,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.36651039123535,
        "front_vehicle_info": {
            "id": 48775,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2170.71044921875,
                2527.326416015625,
                364.8764343261719
            ],
            "velocity": [
                -0.00022006078506819904,
                0.00012124577915528789,
                4.1883358790073544e-05
            ],
            "speed_kmh": 0.000916986526430026,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.4275200366973877,
                "transform": {
                    "location": {
                        "x": 2235.98486328125,
                        "y": 2524.322998046875,
                        "z": 366.5338439941406
                    },
                    "rotation": {
                        "roll": -0.01177978515625,
                        "pitch": -1.4564763307571411,
                        "yaw": -179.85931396484375
                    }
                },
                "velocity": {
                    "x": -3.4259939193725586,
                    "y": -0.020006954669952393,
                    "z": -0.10028999298810959
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48777,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00017720491450745612,
                "transform": {
                    "location": {
                        "x": 2187.9140625,
                        "y": 2539.99267578125,
                        "z": 365.16058349609375
                    },
                    "rotation": {
                        "roll": -6.103481427999213e-05,
                        "pitch": -0.0231065284460783,
                        "yaw": -90.056884765625
                    }
                },
                "velocity": {
                    "x": -5.0153252232121304e-05,
                    "y": 1.0406296496512368e-05,
                    "z": -0.00016964062524493784
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.3888300061225891,
                "transform": {
                    "location": {
                        "x": 2159.40283203125,
                        "y": 2527.349853515625,
                        "z": 364.7882995605469
                    },
                    "rotation": {
                        "roll": 0.0009054623660631478,
                        "pitch": -0.05417022854089737,
                        "yaw": -0.0922851413488388
                    }
                },
                "velocity": {
                    "x": 0.38881710171699524,
                    "y": -0.0008095453376881778,
                    "z": 0.0030640410259366035
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.3950507640838623,
                "transform": {
                    "location": {
                        "x": 2185.03662109375,
                        "y": 2473.734375,
                        "z": 364.90643310546875
                    },
                    "rotation": {
                        "roll": 0.00036489570629782975,
                        "pitch": -0.12344200164079666,
                        "yaw": 90.05986785888672
                    }
                },
                "velocity": {
                    "x": -0.0015557089354842901,
                    "y": 1.3950096368789673,
                    "z": 0.010606822557747364
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48775,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0002547184703871608,
                "transform": {
                    "location": {
                        "x": 2170.71044921875,
                        "y": 2527.326416015625,
                        "z": 364.8764343261719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9666629433631897,
                        "yaw": -0.1175231784582138
                    }
                },
                "velocity": {
                    "x": -0.00022006078506819904,
                    "y": 0.00012124577915528789,
                    "z": 4.1883358790073544e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0004029965784866363,
                "transform": {
                    "location": {
                        "x": 2200.43017578125,
                        "y": 2524.310302734375,
                        "z": 365.5072937011719
                    },
                    "rotation": {
                        "roll": 0.0012055119732394814,
                        "pitch": -1.5042738914489746,
                        "yaw": 179.79428100585938
                    }
                },
                "velocity": {
                    "x": -7.928207196528092e-05,
                    "y": 0.00019025320943910629,
                    "z": -0.00034630089066922665
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.20718401670455933,
                "transform": {
                    "location": {
                        "x": 2187.901611328125,
                        "y": 2552.412353515625,
                        "z": 365.15838623046875
                    },
                    "rotation": {
                        "roll": 0.0005647629732266068,
                        "pitch": -0.029697660356760025,
                        "yaw": -90.04232025146484
                    }
                },
                "velocity": {
                    "x": 0.0035546203143894672,
                    "y": -0.20715217292308807,
                    "z": 0.0007481384091079235
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.682734251022339,
                "transform": {
                    "location": {
                        "x": 2185.0556640625,
                        "y": 2456.943115234375,
                        "z": 364.7274169921875
                    },
                    "rotation": {
                        "roll": -0.007507302798330784,
                        "pitch": 0.6777732968330383,
                        "yaw": 89.48662567138672
                    }
                },
                "velocity": {
                    "x": -0.004587062634527683,
                    "y": 2.6825790405273438,
                    "z": 0.02848556451499462
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.0038771001272835e-05,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.003084269817918539,
                        "pitch": 0.21775324642658234,
                        "yaw": -179.82460021972656
                    }
                },
                "velocity": {
                    "x": 6.177089744596742e-06,
                    "y": -1.0783085713228502e-07,
                    "z": -2.9396593163255602e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0002767961414065212,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.001094680861569941,
                        "pitch": 0.21982279419898987,
                        "yaw": 179.8745574951172
                    }
                },
                "velocity": {
                    "x": 4.043947774334811e-05,
                    "y": -7.361549796769395e-05,
                    "z": -0.000263745168922469
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.546128749847412,
                "transform": {
                    "location": {
                        "x": 2187.86328125,
                        "y": 2566.83544921875,
                        "z": 365.1044921875
                    },
                    "rotation": {
                        "roll": 0.006464607547968626,
                        "pitch": -0.20236483216285706,
                        "yaw": -89.66120147705078
                    }
                },
                "velocity": {
                    "x": 0.026967136189341545,
                    "y": -4.546027660369873,
                    "z": 0.01385654415935278
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00019589213479775935,
                "transform": {
                    "location": {
                        "x": 2185.023681640625,
                        "y": 2485.718505859375,
                        "z": 364.9919738769531
                    },
                    "rotation": {
                        "roll": 0.0015571467811241746,
                        "pitch": 0.39598703384399414,
                        "yaw": 90.14008331298828
                    }
                },
                "velocity": {
                    "x": -4.592594996211119e-05,
                    "y": -2.582646811788436e-05,
                    "z": 0.00018867307517211884
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.9276459813117981,
                "transform": {
                    "location": {
                        "x": 2185.015625,
                        "y": 2495.89013671875,
                        "z": 365.0570373535156
                    },
                    "rotation": {
                        "roll": -0.0009155395091511309,
                        "pitch": 0.31741252541542053,
                        "yaw": 89.92723083496094
                    }
                },
                "velocity": {
                    "x": -0.0007502577500417829,
                    "y": 0.9276281595230103,
                    "z": 0.005699348170310259
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.018998146057129,
                "transform": {
                    "location": {
                        "x": 2214.416259765625,
                        "y": 2524.281494140625,
                        "z": 365.8817443847656
                    },
                    "rotation": {
                        "roll": -0.0007324219332076609,
                        "pitch": -1.703790545463562,
                        "yaw": 179.90325927734375
                    }
                },
                "velocity": {
                    "x": -6.016502380371094,
                    "y": 0.010716252960264683,
                    "z": -0.1729896068572998
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.093425273895264,
                "transform": {
                    "location": {
                        "x": 2137.9072265625,
                        "y": 2527.32373046875,
                        "z": 364.7857971191406
                    },
                    "rotation": {
                        "roll": 0.0005734707228839397,
                        "pitch": -0.13428151607513428,
                        "yaw": 0.29990723729133606
                    }
                },
                "velocity": {
                    "x": 4.093307018280029,
                    "y": 0.02756563574075699,
                    "z": -0.014474229887127876
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.2375604808330536,
        "expert_target_speed": 0.0,
        "target_point": [
            11.772587857038621,
            8.711510326203726
        ],
        "target_point_next": [
            11.750386709164081,
            36.71156911618477
        ]
    },
    "325": {
        "acceleration": [
            0.0006294128252193332,
            0.00017481781833339483,
            0.001518254866823554
        ],
        "angular_velocity": [
            0.0,
            0.0,
            0.0
        ],
        "forward_vector": [
            0.002991493558511138,
            0.9999904036521912,
            0.003210181137546897
        ],
        "right_vector": [
            -0.9999955296516418,
            0.002991493558511138,
            4.793749667442171e-06
        ],
        "location": [
            2184.84521484375,
            2512.66552734375,
            365.1244201660156
        ],
        "rotation": [
            -0.0002746630343608558,
            0.1839301586151123,
            89.82859802246094
        ],
        "velocity": [
            0.0,
            0.0,
            0.0
        ],
        "speed": 0.0,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.366342544555664,
        "front_vehicle_info": {
            "id": 48775,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2170.710693359375,
                2527.326416015625,
                364.87640380859375
            ],
            "velocity": [
                -0.0001406054216204211,
                2.201989673267235e-06,
                0.0009509059018455446
            ],
            "speed_kmh": 0.00346049102107764,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.936511516571045,
                "transform": {
                    "location": {
                        "x": 2234.927978515625,
                        "y": 2524.31640625,
                        "z": 366.501953125
                    },
                    "rotation": {
                        "roll": -0.0177307091653347,
                        "pitch": -1.4488469362258911,
                        "yaw": -179.73568725585938
                    }
                },
                "velocity": {
                    "x": -4.934126377105713,
                    "y": -0.03259054198861122,
                    "z": -0.1499318778514862
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48777,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0008241622126661241,
                "transform": {
                    "location": {
                        "x": 2187.9140625,
                        "y": 2539.99267578125,
                        "z": 365.16058349609375
                    },
                    "rotation": {
                        "roll": -6.103481427999213e-05,
                        "pitch": -0.0231065284460783,
                        "yaw": -90.056884765625
                    }
                },
                "velocity": {
                    "x": 5.773864359071013e-06,
                    "y": -4.344204171502497e-06,
                    "z": 0.0008241305476985872
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.5037230253219604,
                "transform": {
                    "location": {
                        "x": 2159.677001953125,
                        "y": 2527.349365234375,
                        "z": 364.7867431640625
                    },
                    "rotation": {
                        "roll": -6.103515261202119e-05,
                        "pitch": 0.300405353307724,
                        "yaw": -0.11447141319513321
                    }
                },
                "velocity": {
                    "x": 1.5037094354629517,
                    "y": -0.003074205480515957,
                    "z": 0.005595588590949774
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.34792977571487427,
                "transform": {
                    "location": {
                        "x": 2185.03662109375,
                        "y": 2473.808837890625,
                        "z": 364.9075012207031
                    },
                    "rotation": {
                        "roll": 0.0004823518975172192,
                        "pitch": -0.20751479268074036,
                        "yaw": 90.06024932861328
                    }
                },
                "velocity": {
                    "x": -0.0004607537994161248,
                    "y": 0.34791985154151917,
                    "z": 0.0025879954919219017
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48775,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0009612474823370576,
                "transform": {
                    "location": {
                        "x": 2170.710693359375,
                        "y": 2527.326416015625,
                        "z": 364.87640380859375
                    },
                    "rotation": {
                        "roll": 2.5661949621280655e-05,
                        "pitch": 0.9752894639968872,
                        "yaw": -0.11749265342950821
                    }
                },
                "velocity": {
                    "x": -0.0001406054216204211,
                    "y": 2.201989673267235e-06,
                    "z": 0.0009509059018455446
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0011077944654971361,
                "transform": {
                    "location": {
                        "x": 2200.4296875,
                        "y": 2524.310302734375,
                        "z": 365.5067138671875
                    },
                    "rotation": {
                        "roll": 0.0014021958922967315,
                        "pitch": -1.440882921218872,
                        "yaw": 179.79421997070312
                    }
                },
                "velocity": {
                    "x": 6.774157373001799e-05,
                    "y": -4.226143937557936e-05,
                    "z": -0.0011049134191125631
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.2844712734222412,
                "transform": {
                    "location": {
                        "x": 2187.901123046875,
                        "y": 2552.250732421875,
                        "z": 365.15863037109375
                    },
                    "rotation": {
                        "roll": 0.0013807063223794103,
                        "pitch": -0.00717169838026166,
                        "yaw": -90.02236938476562
                    }
                },
                "velocity": {
                    "x": 0.0007479005143977702,
                    "y": -1.2844693660736084,
                    "z": 0.0020918655209243298
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.1056768894195557,
                "transform": {
                    "location": {
                        "x": 2185.06396484375,
                        "y": 2457.7197265625,
                        "z": 364.7359313964844
                    },
                    "rotation": {
                        "roll": 0.0050602862611413,
                        "pitch": 0.6411839723587036,
                        "yaw": 90.64459991455078
                    }
                },
                "velocity": {
                    "x": 0.009066948667168617,
                    "y": 3.105480670928955,
                    "z": 0.033705901354551315
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00028534576995298266,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.003078795038163662,
                        "pitch": 0.21774642169475555,
                        "yaw": -179.8245849609375
                    }
                },
                "velocity": {
                    "x": -1.0765716069727205e-06,
                    "y": 1.8842269128072076e-05,
                    "z": -0.00028472093981690705
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00109371158760041,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.001094680861569941,
                        "pitch": 0.21982279419898987,
                        "yaw": 179.8745574951172
                    }
                },
                "velocity": {
                    "x": 3.573652429622598e-05,
                    "y": -3.180267958668992e-05,
                    "z": -0.001092664897441864
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.5399059653282166,
                "transform": {
                    "location": {
                        "x": 2187.865478515625,
                        "y": 2566.45458984375,
                        "z": 365.1058044433594
                    },
                    "rotation": {
                        "roll": 0.002213964704424143,
                        "pitch": -0.5528286695480347,
                        "yaw": -89.6600570678711
                    }
                },
                "velocity": {
                    "x": 0.0034356459509581327,
                    "y": -0.539882242679596,
                    "z": 0.003712892532348633
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.000243818576564081,
                "transform": {
                    "location": {
                        "x": 2185.023681640625,
                        "y": 2485.718505859375,
                        "z": 364.9919738769531
                    },
                    "rotation": {
                        "roll": 0.0015571467811241746,
                        "pitch": 0.39598703384399414,
                        "yaw": 90.14008331298828
                    }
                },
                "velocity": {
                    "x": 3.105531050096033e-06,
                    "y": -2.7286409022053704e-05,
                    "z": -0.00024226702225860208
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.6468307971954346,
                "transform": {
                    "location": {
                        "x": 2185.015869140625,
                        "y": 2495.974365234375,
                        "z": 365.0574951171875
                    },
                    "rotation": {
                        "roll": 0.0001858723844634369,
                        "pitch": 0.3363184928894043,
                        "yaw": 89.93586730957031
                    }
                },
                "velocity": {
                    "x": -0.0015795440413057804,
                    "y": 0.6468226313591003,
                    "z": 0.0028366565238684416
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.34576520323753357,
                "transform": {
                    "location": {
                        "x": 2213.53759765625,
                        "y": 2524.283203125,
                        "z": 365.85552978515625
                    },
                    "rotation": {
                        "roll": 8.80111037986353e-05,
                        "pitch": -2.344414472579956,
                        "yaw": 179.89569091796875
                    }
                },
                "velocity": {
                    "x": -0.3456271290779114,
                    "y": 0.0006136277806945145,
                    "z": -0.009751605801284313
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.933255672454834,
                "transform": {
                    "location": {
                        "x": 2139.072265625,
                        "y": 2527.330078125,
                        "z": 364.7816467285156
                    },
                    "rotation": {
                        "roll": 0.00045552843948826194,
                        "pitch": -0.16058456897735596,
                        "yaw": 0.32318463921546936
                    }
                },
                "velocity": {
                    "x": 4.933145523071289,
                    "y": 0.02768668346107006,
                    "z": -0.01796022430062294
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.23689445853233337,
        "expert_target_speed": 0.0,
        "target_point": [
            11.772587857038621,
            8.711510326203726
        ],
        "target_point_next": [
            11.750386709164081,
            36.71156911618477
        ]
    },
    "330": {
        "acceleration": [
            0.0011496624210849404,
            -0.0013356904964894056,
            -0.0021026444155722857
        ],
        "angular_velocity": [
            0.014441065490245819,
            0.008502094075083733,
            6.402852159226313e-05
        ],
        "forward_vector": [
            0.002991493558511138,
            0.9999904036521912,
            0.003210181137546897
        ],
        "right_vector": [
            -0.9999955296516418,
            0.002991493558511138,
            4.793749667442171e-06
        ],
        "location": [
            2184.84521484375,
            2512.66552734375,
            365.1244201660156
        ],
        "rotation": [
            -0.0002746630343608558,
            0.1839301586151123,
            89.82859802246094
        ],
        "velocity": [
            1.790352507669013e-05,
            -5.3009109251433983e-05,
            -6.781332194805145e-05
        ],
        "speed": 5.595088805195264e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.366342544555664,
        "front_vehicle_info": {
            "id": 48775,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2170.710693359375,
                2527.326416015625,
                364.87640380859375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": 2185.16748046875,
                        "y": 2443.19091796875,
                        "z": 364.9306640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6687096357345581,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": -2.748270361285776e-13,
                    "y": 2.607462856740739e-10,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.506775379180908,
                "transform": {
                    "location": {
                        "x": 2233.587646484375,
                        "y": 2524.30712890625,
                        "z": 366.4612731933594
                    },
                    "rotation": {
                        "roll": -0.0185852013528347,
                        "pitch": -1.6063852310180664,
                        "yaw": -179.64395141601562
                    }
                },
                "velocity": {
                    "x": -5.50404691696167,
                    "y": -0.03929261863231659,
                    "z": -0.16881754994392395
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48777,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0004080980725120753,
                "transform": {
                    "location": {
                        "x": 2187.9140625,
                        "y": 2539.99267578125,
                        "z": 365.16058349609375
                    },
                    "rotation": {
                        "roll": -6.103481427999213e-05,
                        "pitch": -0.0231065284460783,
                        "yaw": -90.056884765625
                    }
                },
                "velocity": {
                    "x": 3.0287865229183808e-05,
                    "y": 4.530735168373212e-06,
                    "z": 0.0004069473361596465
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.2457516193389893,
                "transform": {
                    "location": {
                        "x": 2160.171875,
                        "y": 2527.348388671875,
                        "z": 364.7887878417969
                    },
                    "rotation": {
                        "roll": 0.0005216331337578595,
                        "pitch": 0.36122819781303406,
                        "yaw": -0.133148193359375
                    }
                },
                "velocity": {
                    "x": 2.2457265853881836,
                    "y": -0.004164560232311487,
                    "z": 0.009801206178963184
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.8437256217002869,
                "transform": {
                    "location": {
                        "x": 2185.03662109375,
                        "y": 2473.95703125,
                        "z": 364.90179443359375
                    },
                    "rotation": {
                        "roll": -0.0002441689430270344,
                        "pitch": 0.6634367108345032,
                        "yaw": 90.04016876220703
                    }
                },
                "velocity": {
                    "x": -0.0011852096067741513,
                    "y": 0.8437009453773499,
                    "z": 0.006337079685181379
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48775,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2170.710693359375,
                        "y": 2527.326416015625,
                        "z": 364.87640380859375
                    },
                    "rotation": {
                        "roll": 2.5661949621280655e-05,
                        "pitch": 0.9752894639968872,
                        "yaw": -0.11749265342950821
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00013767284690402448,
                "transform": {
                    "location": {
                        "x": 2200.4296875,
                        "y": 2524.310302734375,
                        "z": 365.5065002441406
                    },
                    "rotation": {
                        "roll": 0.003641602350398898,
                        "pitch": -1.4216628074645996,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": -3.410458521102555e-05,
                    "y": -4.282368172425777e-05,
                    "z": 0.00012632031575776637
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.52524995803833,
                "transform": {
                    "location": {
                        "x": 2187.90087890625,
                        "y": 2551.7626953125,
                        "z": 365.15576171875
                    },
                    "rotation": {
                        "roll": -0.002563482616096735,
                        "pitch": 0.4546583592891693,
                        "yaw": -89.9720458984375
                    }
                },
                "velocity": {
                    "x": 0.0030251627322286367,
                    "y": -2.5252466201782227,
                    "z": 0.0028081226628273726
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.288745164871216,
                "transform": {
                    "location": {
                        "x": 2185.064697265625,
                        "y": 2458.476318359375,
                        "z": 364.7442932128906
                    },
                    "rotation": {
                        "roll": 0.004770144820213318,
                        "pitch": 0.548423171043396,
                        "yaw": 90.88217163085938
                    }
                },
                "velocity": {
                    "x": -0.007671930827200413,
                    "y": 2.288626194000244,
                    "z": 0.02205810509622097
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00029759478638879955,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.78143310546875
                    },
                    "rotation": {
                        "roll": 0.0025322833098471165,
                        "pitch": 0.21788984537124634,
                        "yaw": -179.8245391845703
                    }
                },
                "velocity": {
                    "x": 1.1818632629001513e-05,
                    "y": 6.677713599856361e-07,
                    "z": 0.0002973592490889132
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0004860966873820871,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.001094680861569941,
                        "pitch": 0.21982279419898987,
                        "yaw": 179.8745574951172
                    }
                },
                "velocity": {
                    "x": 3.247763743274845e-05,
                    "y": -7.495034515159205e-05,
                    "z": -0.0004791843530256301
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.21669340133667,
                "transform": {
                    "location": {
                        "x": 2187.867431640625,
                        "y": 2566.08544921875,
                        "z": 365.1077575683594
                    },
                    "rotation": {
                        "roll": 0.00023392445291392505,
                        "pitch": 0.327541708946228,
                        "yaw": -89.65599822998047
                    }
                },
                "velocity": {
                    "x": 0.012410630472004414,
                    "y": -2.2166330814361572,
                    "z": 0.010625200346112251
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.10700544714927673,
                "transform": {
                    "location": {
                        "x": 2185.02392578125,
                        "y": 2485.725341796875,
                        "z": 364.9920654296875
                    },
                    "rotation": {
                        "roll": 0.001745686517097056,
                        "pitch": 0.3864179253578186,
                        "yaw": 90.14710235595703
                    }
                },
                "velocity": {
                    "x": -0.00023476494243368506,
                    "y": 0.1069958359003067,
                    "z": 0.0014151000650599599
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.5267302989959717,
                "transform": {
                    "location": {
                        "x": 2185.01611328125,
                        "y": 2496.068115234375,
                        "z": 365.0578918457031
                    },
                    "rotation": {
                        "roll": -0.0007629541214555502,
                        "pitch": 0.3473970592021942,
                        "yaw": 89.97340393066406
                    }
                },
                "velocity": {
                    "x": -0.0012715003686025739,
                    "y": 0.5267230868339539,
                    "z": 0.002440271433442831
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.3451794385910034,
                "transform": {
                    "location": {
                        "x": 2213.365478515625,
                        "y": 2524.283447265625,
                        "z": 365.8516845703125
                    },
                    "rotation": {
                        "roll": -0.0019226070726290345,
                        "pitch": -1.7520390748977661,
                        "yaw": 179.92715454101562
                    }
                },
                "velocity": {
                    "x": -1.3446873426437378,
                    "y": 0.0018817511154338717,
                    "z": -0.03633584454655647
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.482876300811768,
                "transform": {
                    "location": {
                        "x": 2140.66943359375,
                        "y": 2527.339111328125,
                        "z": 364.77496337890625
                    },
                    "rotation": {
                        "roll": -0.000457763671875,
                        "pitch": -0.08029569685459137,
                        "yaw": 0.2937672734260559
                    }
                },
                "velocity": {
                    "x": 7.482720851898193,
                    "y": 0.040052685886621475,
                    "z": -0.026773327961564064
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.2369827777147293,
        "expert_target_speed": 0.0,
        "target_point": [
            11.772587857038621,
            8.711510326203726
        ],
        "target_point_next": [
            11.750386709164081,
            36.71156911618477
        ]
    },
    "335": {
        "acceleration": [
            0.017127467319369316,
            1.145754098892212,
            0.006185946986079216
        ],
        "angular_velocity": [
            0.3381046652793884,
            -0.017208561301231384,
            -0.4431002736091614
        ],
        "forward_vector": [
            0.0028901651967316866,
            0.9999902248382568,
            0.003339880146086216
        ],
        "right_vector": [
            -0.9999958276748657,
            0.0028901477344334126,
            1.0119983016920742e-05
        ],
        "location": [
            2184.84521484375,
            2512.666748046875,
            365.1244201660156
        ],
        "rotation": [
            -0.0005798355559818447,
            0.19136139750480652,
            89.83440399169922
        ],
        "velocity": [
            0.0008577508851885796,
            0.05727990344166756,
            0.0002984428429044783
        ],
        "speed": 0.057286325374104774,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.365463256835938,
        "front_vehicle_info": {
            "id": 48775,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2170.710693359375,
                2527.326416015625,
                364.87640380859375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.3986482322216034,
                "transform": {
                    "location": {
                        "x": 2185.16748046875,
                        "y": 2443.19189453125,
                        "z": 364.5471496582031
                    },
                    "rotation": {
                        "roll": -0.0004883132060058415,
                        "pitch": 0.683688223361969,
                        "yaw": 90.06028747558594
                    }
                },
                "velocity": {
                    "x": 0.0001972360332729295,
                    "y": 0.004513612948358059,
                    "z": -0.39862263202667236
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.817503929138184,
                "transform": {
                    "location": {
                        "x": 2232.123291015625,
                        "y": 2524.296142578125,
                        "z": 366.4164733886719
                    },
                    "rotation": {
                        "roll": -0.019195551052689552,
                        "pitch": -1.5205707550048828,
                        "yaw": -179.5965576171875
                    }
                },
                "velocity": {
                    "x": -6.814115047454834,
                    "y": -0.05175289139151573,
                    "z": -0.2086065411567688
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48777,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.9140625,
                        "y": 2539.99267578125,
                        "z": 365.16058349609375
                    },
                    "rotation": {
                        "roll": -6.103481427999213e-05,
                        "pitch": -0.0231065284460783,
                        "yaw": -90.056884765625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0011542756110429764,
                "transform": {
                    "location": {
                        "x": 2160.4052734375,
                        "y": 2527.349365234375,
                        "z": 364.7919921875
                    },
                    "rotation": {
                        "roll": -3.0517585400957614e-05,
                        "pitch": 0.11833301931619644,
                        "yaw": -0.2403258979320526
                    }
                },
                "velocity": {
                    "x": -0.0005147738265804946,
                    "y": -0.0003004026657436043,
                    "z": 0.000988492975011468
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.917001724243164,
                "transform": {
                    "location": {
                        "x": 2185.03662109375,
                        "y": 2474.30224609375,
                        "z": 364.9033508300781
                    },
                    "rotation": {
                        "roll": 0.0007801855099387467,
                        "pitch": 0.8025950193405151,
                        "yaw": 90.04412841796875
                    }
                },
                "velocity": {
                    "x": -0.0016350464429706335,
                    "y": 1.9169350862503052,
                    "z": 0.015894269570708275
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48775,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2170.710693359375,
                        "y": 2527.326416015625,
                        "z": 364.87640380859375
                    },
                    "rotation": {
                        "roll": 2.5661949621280655e-05,
                        "pitch": 0.9752894639968872,
                        "yaw": -0.11749265342950821
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.000371362577425316,
                "transform": {
                    "location": {
                        "x": 2200.4296875,
                        "y": 2524.310302734375,
                        "z": 365.5064697265625
                    },
                    "rotation": {
                        "roll": 0.0034897285513579845,
                        "pitch": -1.4165948629379272,
                        "yaw": 179.79405212402344
                    }
                },
                "velocity": {
                    "x": -2.8298645702307113e-05,
                    "y": 1.877767488167592e-07,
                    "z": -0.0003702827380038798
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0074507915414869785,
                "transform": {
                    "location": {
                        "x": 2187.89990234375,
                        "y": 2551.388427734375,
                        "z": 365.1619567871094
                    },
                    "rotation": {
                        "roll": -0.002075210213661194,
                        "pitch": -0.25103676319122314,
                        "yaw": -89.87155151367188
                    }
                },
                "velocity": {
                    "x": -0.0001790200622053817,
                    "y": -0.007429051678627729,
                    "z": -0.0005398551002144814
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.1371407508850098,
                "transform": {
                    "location": {
                        "x": 2185.0615234375,
                        "y": 2459.15869140625,
                        "z": 364.7506408691406
                    },
                    "rotation": {
                        "roll": 0.005584453232586384,
                        "pitch": 0.6134533882141113,
                        "yaw": 90.75037384033203
                    }
                },
                "velocity": {
                    "x": -0.011766933836042881,
                    "y": 3.136956214904785,
                    "z": 0.03192932903766632
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00011436357453931123,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.78143310546875
                    },
                    "rotation": {
                        "roll": 0.0025322833098471165,
                        "pitch": 0.21788984537124634,
                        "yaw": -179.8245391845703
                    }
                },
                "velocity": {
                    "x": 2.7971714189334307e-06,
                    "y": -4.415996500028996e-06,
                    "z": -0.00011424404510762542
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0006860191933810711,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.001094680861569941,
                        "pitch": 0.21982279419898987,
                        "yaw": 179.8745574951172
                    }
                },
                "velocity": {
                    "x": 1.0949447641905863e-05,
                    "y": 4.674619049183093e-05,
                    "z": -0.0006843370501883328
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.66351318359375,
                "transform": {
                    "location": {
                        "x": 2187.869384765625,
                        "y": 2565.505615234375,
                        "z": 365.1104736328125
                    },
                    "rotation": {
                        "roll": 0.0029831761494278908,
                        "pitch": 0.2323971688747406,
                        "yaw": -89.55303955078125
                    }
                },
                "velocity": {
                    "x": 0.004642928019165993,
                    "y": -1.6634876728057861,
                    "z": 0.007959775626659393
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.8758218288421631,
                "transform": {
                    "location": {
                        "x": 2185.02392578125,
                        "y": 2485.837646484375,
                        "z": 364.9933166503906
                    },
                    "rotation": {
                        "roll": 0.002419034019112587,
                        "pitch": 0.330007404088974,
                        "yaw": 90.1688232421875
                    }
                },
                "velocity": {
                    "x": -0.004463316407054663,
                    "y": 0.8758003115653992,
                    "z": 0.004221267532557249
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.6217391490936279,
                "transform": {
                    "location": {
                        "x": 2185.01611328125,
                        "y": 2496.15771484375,
                        "z": 365.0585021972656
                    },
                    "rotation": {
                        "roll": -0.0004272140795364976,
                        "pitch": 0.3304513692855835,
                        "yaw": 89.96685028076172
                    }
                },
                "velocity": {
                    "x": -0.0025061245542019606,
                    "y": 0.6217294335365295,
                    "z": 0.002405042527243495
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.2579071521759033,
                "transform": {
                    "location": {
                        "x": 2212.912841796875,
                        "y": 2524.284423828125,
                        "z": 365.8394775390625
                    },
                    "rotation": {
                        "roll": -0.0018615724984556437,
                        "pitch": -1.522558331489563,
                        "yaw": 179.94488525390625
                    }
                },
                "velocity": {
                    "x": -2.257030487060547,
                    "y": 0.003662976436316967,
                    "z": -0.06280680745840073
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.40196704864502,
                "transform": {
                    "location": {
                        "x": 2142.697021484375,
                        "y": 2527.349609375,
                        "z": 364.76763916015625
                    },
                    "rotation": {
                        "roll": -0.001953125,
                        "pitch": -0.1308595836162567,
                        "yaw": 0.30253562331199646
                    }
                },
                "velocity": {
                    "x": 8.40177059173584,
                    "y": 0.04661624878644943,
                    "z": -0.033506035804748535
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.2386332005262375,
        "expert_target_speed": 0.0,
        "target_point": [
            11.772430488006938,
            8.710069676743558
        ],
        "target_point_next": [
            11.753647316215833,
            36.710130968208965
        ]
    },
    "340": {
        "acceleration": [
            0.03902112692594528,
            4.306079387664795,
            0.005947493482381105
        ],
        "angular_velocity": [
            0.8625203371047974,
            0.007712087128311396,
            -1.4362717866897583
        ],
        "forward_vector": [
            0.0033523126039654016,
            0.9999821782112122,
            0.004943827632814646
        ],
        "right_vector": [
            -0.9999943971633911,
            0.0033523140009492636,
            7.989350706338882e-06
        ],
        "location": [
            2184.84521484375,
            2512.703125,
            365.1241760253906
        ],
        "rotation": [
            -0.00045776163460686803,
            0.28326159715652466,
            89.80792236328125
        ],
        "velocity": [
            0.002119710436090827,
            0.42998725175857544,
            0.002022657310590148
        ],
        "speed": 0.4299924765007237,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.339290618896484,
        "front_vehicle_info": {
            "id": 48775,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2170.710693359375,
                2527.326416015625,
                364.87640380859375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.1270630955696106,
                "transform": {
                    "location": {
                        "x": 2185.16748046875,
                        "y": 2443.192138671875,
                        "z": 364.56402587890625
                    },
                    "rotation": {
                        "roll": -0.00024414327344857156,
                        "pitch": 0.6837292313575745,
                        "yaw": 90.06018829345703
                    }
                },
                "velocity": {
                    "x": 8.879363304004073e-05,
                    "y": 0.0006137752206996083,
                    "z": 0.12706159055233002
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.522778511047363,
                "transform": {
                    "location": {
                        "x": 2230.143310546875,
                        "y": 2524.28466796875,
                        "z": 366.3553466796875
                    },
                    "rotation": {
                        "roll": 0.0009024320170283318,
                        "pitch": -1.443601369857788,
                        "yaw": -179.6759490966797
                    }
                },
                "velocity": {
                    "x": -8.51860237121582,
                    "y": -0.0348648764193058,
                    "z": -0.26448675990104675
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48777,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0007457216852344573,
                "transform": {
                    "location": {
                        "x": 2187.9140625,
                        "y": 2539.99267578125,
                        "z": 365.16058349609375
                    },
                    "rotation": {
                        "roll": -6.103481427999213e-05,
                        "pitch": -0.0231065284460783,
                        "yaw": -90.056884765625
                    }
                },
                "velocity": {
                    "x": -6.7406845118966885e-06,
                    "y": -2.77370691037504e-05,
                    "z": 0.0007451751735061407
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0013912701979279518,
                "transform": {
                    "location": {
                        "x": 2160.40625,
                        "y": 2527.349365234375,
                        "z": 364.7909240722656
                    },
                    "rotation": {
                        "roll": 8.24695234769024e-05,
                        "pitch": 0.2443636655807495,
                        "yaw": -0.240325927734375
                    }
                },
                "velocity": {
                    "x": -0.0004069426213391125,
                    "y": -6.772870983695611e-05,
                    "z": 0.00132869987282902
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.7838910818099976,
                "transform": {
                    "location": {
                        "x": 2185.03564453125,
                        "y": 2474.82177734375,
                        "z": 364.9100646972656
                    },
                    "rotation": {
                        "roll": 0.00186204316560179,
                        "pitch": 0.49550971388816833,
                        "yaw": 89.94361114501953
                    }
                },
                "velocity": {
                    "x": -0.004031242802739143,
                    "y": 0.7838541865348816,
                    "z": 0.006448716856539249
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48775,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2170.710693359375,
                        "y": 2527.326416015625,
                        "z": 364.87640380859375
                    },
                    "rotation": {
                        "roll": 2.5661949621280655e-05,
                        "pitch": 0.9752894639968872,
                        "yaw": -0.11749265342950821
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0005212580435909331,
                "transform": {
                    "location": {
                        "x": 2200.4296875,
                        "y": 2524.310302734375,
                        "z": 365.5064697265625
                    },
                    "rotation": {
                        "roll": 0.0017007970018312335,
                        "pitch": -1.4165948629379272,
                        "yaw": 179.79397583007812
                    }
                },
                "velocity": {
                    "x": -2.4825036234688014e-05,
                    "y": 1.3881301583751338e-06,
                    "z": -0.0005206647329032421
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.5686230659484863,
                "transform": {
                    "location": {
                        "x": 2187.89990234375,
                        "y": 2551.155029296875,
                        "z": 365.15972900390625
                    },
                    "rotation": {
                        "roll": -9.155733278021216e-05,
                        "pitch": 0.09026777744293213,
                        "yaw": -89.88329315185547
                    }
                },
                "velocity": {
                    "x": 0.0029553272761404514,
                    "y": -1.5686185359954834,
                    "z": 0.002271194476634264
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.466352462768555,
                "transform": {
                    "location": {
                        "x": 2185.0576171875,
                        "y": 2460.11669921875,
                        "z": 364.7601623535156
                    },
                    "rotation": {
                        "roll": 0.007635969202965498,
                        "pitch": 0.6458558440208435,
                        "yaw": 90.59610748291016
                    }
                },
                "velocity": {
                    "x": -0.01467890478670597,
                    "y": 4.466097831726074,
                    "z": 0.04536067694425583
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0002808203862514347,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.002664322964847088,
                        "pitch": 0.21760298311710358,
                        "yaw": -179.82452392578125
                    }
                },
                "velocity": {
                    "x": 9.32425245991908e-06,
                    "y": -1.8823622667696327e-05,
                    "z": -0.00028003359329886734
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.4308868129737675e-05,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.001094680861569941,
                        "pitch": 0.21982279419898987,
                        "yaw": 179.8745574951172
                    }
                },
                "velocity": {
                    "x": 1.1084191100962926e-05,
                    "y": 3.553540227585472e-05,
                    "z": 3.954527710448019e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.967069149017334,
                "transform": {
                    "location": {
                        "x": 2187.86962890625,
                        "y": 2565.37939453125,
                        "z": 365.111083984375
                    },
                    "rotation": {
                        "roll": 0.00020328567188698798,
                        "pitch": 0.16505150496959686,
                        "yaw": -89.55026245117188
                    }
                },
                "velocity": {
                    "x": 0.004979281686246395,
                    "y": -0.9670512676239014,
                    "z": 0.0031247520819306374
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0013701374409720302,
                "transform": {
                    "location": {
                        "x": 2185.022216796875,
                        "y": 2485.9990234375,
                        "z": 364.9933166503906
                    },
                    "rotation": {
                        "roll": -0.0004272475198376924,
                        "pitch": 0.46144071221351624,
                        "yaw": 89.98292541503906
                    }
                },
                "velocity": {
                    "x": -3.6658246244769543e-05,
                    "y": 0.0004510952567216009,
                    "z": -0.001293230801820755
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0009151543490588665,
                "transform": {
                    "location": {
                        "x": 2185.016845703125,
                        "y": 2496.21630859375,
                        "z": 365.05859375
                    },
                    "rotation": {
                        "roll": -0.0013122749514877796,
                        "pitch": 0.3531070947647095,
                        "yaw": 90.04435729980469
                    }
                },
                "velocity": {
                    "x": -8.938655810197815e-05,
                    "y": 0.0008827875135466456,
                    "z": -0.00022406190691981465
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.004604352172464132,
                "transform": {
                    "location": {
                        "x": 2212.50048828125,
                        "y": 2524.28515625,
                        "z": 365.82757568359375
                    },
                    "rotation": {
                        "roll": -0.003967284224927425,
                        "pitch": -1.8636170625686646,
                        "yaw": 179.9793701171875
                    }
                },
                "velocity": {
                    "x": -0.004578344523906708,
                    "y": 0.00016974016034509987,
                    "z": 0.0004582677793223411
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.365908145904541,
                "transform": {
                    "location": {
                        "x": 2144.685302734375,
                        "y": 2527.35546875,
                        "z": 364.76092529296875
                    },
                    "rotation": {
                        "roll": 0.001957766944542527,
                        "pitch": -0.2522525191307068,
                        "yaw": 0.1618363857269287
                    }
                },
                "velocity": {
                    "x": 7.365846157073975,
                    "y": 0.011678374372422695,
                    "z": -0.027895430102944374
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.24206779897212982,
        "expert_target_speed": 0.0,
        "target_point": [
            11.731876257791074,
            8.715591308747696
        ],
        "target_point_next": [
            11.699668185934438,
            36.715640376088075
        ]
    },
    "345": {
        "acceleration": [
            0.007148357108235359,
            5.550556182861328,
            0.012435149401426315
        ],
        "angular_velocity": [
            0.9942708015441895,
            0.04251621291041374,
            -0.33125272393226624
        ],
        "forward_vector": [
            0.003411112818866968,
            0.9999560713768005,
            0.00872708112001419
        ],
        "right_vector": [
            -0.999994158744812,
            0.003411270445212722,
            -3.185588639098569e-06
        ],
        "location": [
            2184.846435546875,
            2512.936279296875,
            365.1241760253906
        ],
        "rotation": [
            0.0001825277431635186,
            0.5000312924385071,
            89.80455017089844
        ],
        "velocity": [
            0.006438182666897774,
            1.4559943675994873,
            0.0035806463565677404
        ],
        "speed": 1.4560086018555947,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.173166275024414,
        "front_vehicle_info": {
            "id": 48775,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2170.710693359375,
                2527.326416015625,
                364.87640380859375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.7923502922058105,
                "transform": {
                    "location": {
                        "x": 2185.16455078125,
                        "y": 2443.466796875,
                        "z": 364.5841979980469
                    },
                    "rotation": {
                        "roll": -0.004425000865012407,
                        "pitch": 0.9325188398361206,
                        "yaw": 90.16177368164062
                    }
                },
                "velocity": {
                    "x": -0.018119197338819504,
                    "y": 1.791559100151062,
                    "z": 0.05007199943065643
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.558210849761963,
                "transform": {
                    "location": {
                        "x": 2228.122802734375,
                        "y": 2524.27783203125,
                        "z": 366.2928161621094
                    },
                    "rotation": {
                        "roll": 0.00017595430836081505,
                        "pitch": -1.8690743446350098,
                        "yaw": -179.82470703125
                    }
                },
                "velocity": {
                    "x": -7.5545973777771,
                    "y": -0.021356573328375816,
                    "z": -0.23270061612129211
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48777,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.010128968395292759,
                "transform": {
                    "location": {
                        "x": 2187.9140625,
                        "y": 2539.991455078125,
                        "z": 365.1605529785156
                    },
                    "rotation": {
                        "roll": 0.000335450517013669,
                        "pitch": -0.017123283818364143,
                        "yaw": -90.05523681640625
                    }
                },
                "velocity": {
                    "x": -0.0005949867190793157,
                    "y": 0.010108351707458496,
                    "z": 0.00025140761863440275
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2160.406494140625,
                        "y": 2527.349365234375,
                        "z": 364.7906188964844
                    },
                    "rotation": {
                        "roll": -0.00018310543964616954,
                        "pitch": 0.27869901061058044,
                        "yaw": -0.2402953803539276
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.9568712711334229,
                "transform": {
                    "location": {
                        "x": 2185.03564453125,
                        "y": 2474.919677734375,
                        "z": 364.9131164550781
                    },
                    "rotation": {
                        "roll": 0.0006669288850389421,
                        "pitch": 0.22142106294631958,
                        "yaw": 89.94120025634766
                    }
                },
                "velocity": {
                    "x": 0.0001407704403391108,
                    "y": 0.9568425416946411,
                    "z": 0.00741900410503149
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48775,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2170.710693359375,
                        "y": 2527.326416015625,
                        "z": 364.87640380859375
                    },
                    "rotation": {
                        "roll": 2.5661949621280655e-05,
                        "pitch": 0.9752894639968872,
                        "yaw": -0.11749265342950821
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00036844032001681626,
                "transform": {
                    "location": {
                        "x": 2200.4296875,
                        "y": 2524.310302734375,
                        "z": 365.5064697265625
                    },
                    "rotation": {
                        "roll": 0.0017007970018312335,
                        "pitch": -1.4165948629379272,
                        "yaw": 179.79397583007812
                    }
                },
                "velocity": {
                    "x": -3.176688915118575e-05,
                    "y": 1.3362950994633138e-05,
                    "z": -0.00036682497011497617
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.9656131267547607,
                "transform": {
                    "location": {
                        "x": 2187.900146484375,
                        "y": 2550.69384765625,
                        "z": 365.158935546875
                    },
                    "rotation": {
                        "roll": -0.0017089970642700791,
                        "pitch": 0.29322683811187744,
                        "yaw": -89.81890106201172
                    }
                },
                "velocity": {
                    "x": 0.003264226485043764,
                    "y": -1.9656089544296265,
                    "z": 0.0023428916465491056
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.27703332901001,
                "transform": {
                    "location": {
                        "x": 2185.051513671875,
                        "y": 2461.373779296875,
                        "z": 364.7727966308594
                    },
                    "rotation": {
                        "roll": 0.004264185205101967,
                        "pitch": 0.623992383480072,
                        "yaw": 90.2597885131836
                    }
                },
                "velocity": {
                    "x": -0.01054562907665968,
                    "y": 5.276754856109619,
                    "z": 0.05318340286612511
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00029631040524691343,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.002905219327658415,
                        "pitch": 0.21763713657855988,
                        "yaw": -179.8245086669922
                    }
                },
                "velocity": {
                    "x": 5.319789124769159e-06,
                    "y": -4.675006493926048e-06,
                    "z": -0.00029622577130794525
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.527606405550614e-05,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.001094680861569941,
                        "pitch": 0.21982279419898987,
                        "yaw": 179.8745574951172
                    }
                },
                "velocity": {
                    "x": 2.613961669339915e-06,
                    "y": 2.8729066343657905e-06,
                    "z": -8.518755930708721e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.178044080734253,
                "transform": {
                    "location": {
                        "x": 2187.87158203125,
                        "y": 2564.976806640625,
                        "z": 365.1129455566406
                    },
                    "rotation": {
                        "roll": 0.005883570294827223,
                        "pitch": 0.4265930950641632,
                        "yaw": -89.64501190185547
                    }
                },
                "velocity": {
                    "x": 0.008417503908276558,
                    "y": -2.1780035495758057,
                    "z": 0.01027706079185009
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0017028035363182425,
                "transform": {
                    "location": {
                        "x": 2185.022216796875,
                        "y": 2485.998779296875,
                        "z": 364.99371337890625
                    },
                    "rotation": {
                        "roll": 0.0008524751174263656,
                        "pitch": 0.41364988684654236,
                        "yaw": 89.98294067382812
                    }
                },
                "velocity": {
                    "x": 7.502456719521433e-05,
                    "y": -0.0002646253851708025,
                    "z": -0.001680441782809794
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.006452863570302725,
                "transform": {
                    "location": {
                        "x": 2185.0166015625,
                        "y": 2496.3388671875,
                        "z": 365.0594177246094
                    },
                    "rotation": {
                        "roll": 0.0006716115167364478,
                        "pitch": 0.34090837836265564,
                        "yaw": 90.02308654785156
                    }
                },
                "velocity": {
                    "x": -0.00011080234253313392,
                    "y": 0.00636928528547287,
                    "z": -0.0010292589431628585
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.9754585027694702,
                "transform": {
                    "location": {
                        "x": 2212.382568359375,
                        "y": 2524.28515625,
                        "z": 365.8246765136719
                    },
                    "rotation": {
                        "roll": -0.004028320778161287,
                        "pitch": -1.588257908821106,
                        "yaw": -179.97779846191406
                    }
                },
                "velocity": {
                    "x": -0.9750935435295105,
                    "y": 0.001197979087010026,
                    "z": -0.02665487304329872
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.1942057609558105,
                "transform": {
                    "location": {
                        "x": 2146.30908203125,
                        "y": 2527.3583984375,
                        "z": 364.7553405761719
                    },
                    "rotation": {
                        "roll": 4.30721411248669e-05,
                        "pitch": -0.3292834162712097,
                        "yaw": 0.09667399525642395
                    }
                },
                "velocity": {
                    "x": 5.194161415100098,
                    "y": 0.006767110899090767,
                    "z": -0.02035430446267128
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.22875729203224182,
        "expert_target_speed": 0.0,
        "target_point": [
            11.498106123657145,
            8.716840234712636
        ],
        "target_point_next": [
            11.463928710967341,
            36.71688696749192
        ]
    },
    "350": {
        "acceleration": [
            -0.03521982207894325,
            4.817800521850586,
            0.008506206795573235
        ],
        "angular_velocity": [
            0.4712267816066742,
            0.04945861175656319,
            0.2034124732017517
        ],
        "forward_vector": [
            0.0028729536570608616,
            0.9999328851699829,
            0.011227371171116829
        ],
        "right_vector": [
            -0.9999958872795105,
            0.0028718786779791117,
            0.00011184531467733905
        ],
        "location": [
            2184.847900390625,
            2513.44189453125,
            365.12530517578125
        ],
        "rotation": [
            -0.006408668588846922,
            0.6432945132255554,
            89.83538055419922
        ],
        "velocity": [
            0.0016241560224443674,
            2.604702949523926,
            0.007076425477862358
        ],
        "speed": 2.6047034558930933,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.816722869873047,
        "front_vehicle_info": {
            "id": 48775,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2170.710693359375,
                2527.326416015625,
                364.87640380859375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.277982711791992,
                "transform": {
                    "location": {
                        "x": 2185.157958984375,
                        "y": 2444.106201171875,
                        "z": 364.5950012207031
                    },
                    "rotation": {
                        "roll": -0.004547105636447668,
                        "pitch": 0.9722158908843994,
                        "yaw": 90.2984619140625
                    }
                },
                "velocity": {
                    "x": -0.036432478576898575,
                    "y": 3.2775185108184814,
                    "z": 0.041415758430957794
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.5142645835876465,
                "transform": {
                    "location": {
                        "x": 2226.427734375,
                        "y": 2524.2734375,
                        "z": 366.2400207519531
                    },
                    "rotation": {
                        "roll": -0.00079345703125,
                        "pitch": -2.1062252521514893,
                        "yaw": -179.87124633789062
                    }
                },
                "velocity": {
                    "x": -5.511556148529053,
                    "y": -0.008932522498071194,
                    "z": -0.17257139086723328
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48777,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.5385603308677673,
                "transform": {
                    "location": {
                        "x": 2187.9140625,
                        "y": 2539.93994140625,
                        "z": 365.16009521484375
                    },
                    "rotation": {
                        "roll": -0.001220707898028195,
                        "pitch": 0.0995226800441742,
                        "yaw": -90.06585693359375
                    }
                },
                "velocity": {
                    "x": 0.0004778174916282296,
                    "y": -0.5385597944259644,
                    "z": 0.0005608177161775529
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0013095486210659146,
                "transform": {
                    "location": {
                        "x": 2160.406494140625,
                        "y": 2527.349365234375,
                        "z": 364.79052734375
                    },
                    "rotation": {
                        "roll": -0.00048828116268850863,
                        "pitch": 0.2876738905906677,
                        "yaw": -0.2402954399585724
                    }
                },
                "velocity": {
                    "x": -1.906484249047935e-05,
                    "y": -4.595502105075866e-05,
                    "z": 0.001308603212237358
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.7273954153060913,
                "transform": {
                    "location": {
                        "x": 2185.035888671875,
                        "y": 2475.2431640625,
                        "z": 364.9118957519531
                    },
                    "rotation": {
                        "roll": -0.000823951733764261,
                        "pitch": 0.692956805229187,
                        "yaw": 89.98140716552734
                    }
                },
                "velocity": {
                    "x": -0.002368857152760029,
                    "y": 1.7273364067077637,
                    "z": 0.014085693284869194
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48775,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2170.710693359375,
                        "y": 2527.326416015625,
                        "z": 364.87640380859375
                    },
                    "rotation": {
                        "roll": 2.5661949621280655e-05,
                        "pitch": 0.9752894639968872,
                        "yaw": -0.11749265342950821
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0008751280256547034,
                "transform": {
                    "location": {
                        "x": 2200.4296875,
                        "y": 2524.310302734375,
                        "z": 365.5064697265625
                    },
                    "rotation": {
                        "roll": 0.0017007970018312335,
                        "pitch": -1.4165948629379272,
                        "yaw": 179.79397583007812
                    }
                },
                "velocity": {
                    "x": -1.649960904615e-05,
                    "y": 3.077378642046824e-05,
                    "z": -0.0008744311053305864
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.004646604880690575,
                "transform": {
                    "location": {
                        "x": 2187.900634765625,
                        "y": 2550.3994140625,
                        "z": 365.1639099121094
                    },
                    "rotation": {
                        "roll": -0.004211432300508022,
                        "pitch": -0.270871639251709,
                        "yaw": -89.75531005859375
                    }
                },
                "velocity": {
                    "x": -2.2204312699614093e-05,
                    "y": -0.004634896293282509,
                    "z": -0.0003289079468231648
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.656272888183594,
                "transform": {
                    "location": {
                        "x": 2185.048095703125,
                        "y": 2462.994873046875,
                        "z": 364.7886962890625
                    },
                    "rotation": {
                        "roll": 0.0012405568268150091,
                        "pitch": 0.6390256285667419,
                        "yaw": 90.12267303466797
                    }
                },
                "velocity": {
                    "x": -0.009758749045431614,
                    "y": 6.655921936035156,
                    "z": 0.06766408681869507
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00024965484044514596,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.003006044076755643,
                        "pitch": 0.217725932598114,
                        "yaw": -179.8245086669922
                    }
                },
                "velocity": {
                    "x": 1.6878171891221427e-06,
                    "y": 4.154032922087936e-06,
                    "z": -0.0002496145898476243
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.204972255043685e-05,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.001094680861569941,
                        "pitch": 0.21982279419898987,
                        "yaw": 179.8745574951172
                    }
                },
                "velocity": {
                    "x": 5.7296994782518595e-05,
                    "y": 7.445903975167312e-06,
                    "z": -5.825607149745338e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.8149292469024658,
                "transform": {
                    "location": {
                        "x": 2187.873291015625,
                        "y": 2564.446533203125,
                        "z": 365.11529541015625
                    },
                    "rotation": {
                        "roll": 0.003643839852884412,
                        "pitch": 0.11704211682081223,
                        "yaw": -89.47295379638672
                    }
                },
                "velocity": {
                    "x": -0.0055715786293148994,
                    "y": -0.8149048686027527,
                    "z": 0.0029482077807188034
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.6291382312774658,
                "transform": {
                    "location": {
                        "x": 2185.022216796875,
                        "y": 2486.067138671875,
                        "z": 364.9947204589844
                    },
                    "rotation": {
                        "roll": -6.103256600908935e-05,
                        "pitch": 0.34274569153785706,
                        "yaw": 89.97744750976562
                    }
                },
                "velocity": {
                    "x": -0.0002440115058561787,
                    "y": 0.6291289925575256,
                    "z": 0.003402614500373602
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.9828969836235046,
                "transform": {
                    "location": {
                        "x": 2185.0166015625,
                        "y": 2496.462158203125,
                        "z": 365.0604553222656
                    },
                    "rotation": {
                        "roll": -0.00030517461709678173,
                        "pitch": 0.2899961471557617,
                        "yaw": 90.02289581298828
                    }
                },
                "velocity": {
                    "x": -0.0007573267794214189,
                    "y": 0.9828888773918152,
                    "z": 0.003911294974386692
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.8514833450317383,
                "transform": {
                    "location": {
                        "x": 2212.021728515625,
                        "y": 2524.28564453125,
                        "z": 365.81488037109375
                    },
                    "rotation": {
                        "roll": -0.0019836428109556437,
                        "pitch": -1.4725955724716187,
                        "yaw": 179.98529052734375
                    }
                },
                "velocity": {
                    "x": -1.8507468700408936,
                    "y": 0.0022338225971907377,
                    "z": -0.05216905474662781
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0013874222058802843,
                "transform": {
                    "location": {
                        "x": 2146.77099609375,
                        "y": 2527.359375,
                        "z": 364.7546691894531
                    },
                    "rotation": {
                        "roll": -0.002227782504633069,
                        "pitch": -0.5200778841972351,
                        "yaw": 0.06369846314191818
                    }
                },
                "velocity": {
                    "x": -0.0005290939006954432,
                    "y": -0.00014667821233160794,
                    "z": -0.001274160691536963
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.28471097350120544,
        "expert_target_speed": 0.0,
        "target_point": [
            10.99746224121979,
            8.710301293202788
        ],
        "target_point_next": [
            10.97926653409763,
            36.71036297259207
        ]
    },
    "355": {
        "acceleration": [
            -0.021029431372880936,
            0.09842395782470703,
            -0.01023387536406517
        ],
        "angular_velocity": [
            -1.1869006156921387,
            0.033570174127817154,
            0.31925657391548157
        ],
        "forward_vector": [
            0.0015690434956923127,
            0.9999579787254333,
            0.009032840840518475
        ],
        "right_vector": [
            -0.9999987483024597,
            0.0015677170595154166,
            0.0001539243385195732
        ],
        "location": [
            2184.84814453125,
            2514.173095703125,
            365.1279296875
        ],
        "rotation": [
            -0.008819574490189552,
            0.5175507068634033,
            89.91009521484375
        ],
        "velocity": [
            -0.0035217353142797947,
            3.023010492324829,
            0.009210681542754173
        ],
        "speed": 3.0230125436930675,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.311670303344727,
        "front_vehicle_info": {
            "id": 48775,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2170.710693359375,
                2527.326416015625,
                364.87640380859375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.748538017272949,
                "transform": {
                    "location": {
                        "x": 2185.14599609375,
                        "y": 2445.12158203125,
                        "z": 364.6073303222656
                    },
                    "rotation": {
                        "roll": -0.0033874143846333027,
                        "pitch": 0.9791690111160278,
                        "yaw": 90.50285339355469
                    }
                },
                "velocity": {
                    "x": -0.058544330298900604,
                    "y": 4.7478437423706055,
                    "z": 0.05625549331307411
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.006069651339203119,
                "transform": {
                    "location": {
                        "x": 2225.882568359375,
                        "y": 2524.272705078125,
                        "z": 366.2226867675781
                    },
                    "rotation": {
                        "roll": -0.004486083984375,
                        "pitch": -2.7615342140197754,
                        "yaw": -179.91134643554688
                    }
                },
                "velocity": {
                    "x": 0.005943404510617256,
                    "y": -9.161550406133756e-05,
                    "z": 0.001228093751706183
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48777,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.265604019165039,
                "transform": {
                    "location": {
                        "x": 2187.9140625,
                        "y": 2539.71630859375,
                        "z": 365.15960693359375
                    },
                    "rotation": {
                        "roll": -0.0018310669111087918,
                        "pitch": 0.240101620554924,
                        "yaw": -90.03424072265625
                    }
                },
                "velocity": {
                    "x": 0.0016093229642137885,
                    "y": -1.265602707862854,
                    "z": 0.0007709693745709956
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.000865842099301517,
                "transform": {
                    "location": {
                        "x": 2160.406494140625,
                        "y": 2527.349365234375,
                        "z": 364.7904968261719
                    },
                    "rotation": {
                        "roll": -0.0009765623253770173,
                        "pitch": 0.28975710272789,
                        "yaw": -0.2402648627758026
                    }
                },
                "velocity": {
                    "x": -1.4309845937532373e-05,
                    "y": 5.629679071716964e-05,
                    "z": 0.0008638914441689849
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.011076114140450954,
                "transform": {
                    "location": {
                        "x": 2185.03369140625,
                        "y": 2475.658935546875,
                        "z": 364.91802978515625
                    },
                    "rotation": {
                        "roll": 0.005802008789032698,
                        "pitch": 0.3531617522239685,
                        "yaw": 89.77654266357422
                    }
                },
                "velocity": {
                    "x": -0.0013727769255638123,
                    "y": 0.010987943969666958,
                    "z": -0.00024671852588653564
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48775,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2170.710693359375,
                        "y": 2527.326416015625,
                        "z": 364.87640380859375
                    },
                    "rotation": {
                        "roll": 2.5661949621280655e-05,
                        "pitch": 0.9752894639968872,
                        "yaw": -0.11749265342950821
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.107990288408473e-05,
                "transform": {
                    "location": {
                        "x": 2200.4296875,
                        "y": 2524.310302734375,
                        "z": 365.5064697265625
                    },
                    "rotation": {
                        "roll": 0.0017007970018312335,
                        "pitch": -1.4165948629379272,
                        "yaw": 179.79397583007812
                    }
                },
                "velocity": {
                    "x": -3.74460214516148e-05,
                    "y": 9.607488209439907e-06,
                    "z": -7.127020944608375e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.003347379621118307,
                "transform": {
                    "location": {
                        "x": 2187.900634765625,
                        "y": 2550.398193359375,
                        "z": 365.16265869140625
                    },
                    "rotation": {
                        "roll": -0.0005798335187137127,
                        "pitch": -0.11661181598901749,
                        "yaw": -89.75537109375
                    }
                },
                "velocity": {
                    "x": 0.0001918151683639735,
                    "y": 0.0033241224009543657,
                    "z": 0.0003440465370658785
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.103240728378296,
                "transform": {
                    "location": {
                        "x": 2185.0458984375,
                        "y": 2464.34619140625,
                        "z": 364.803466796875
                    },
                    "rotation": {
                        "roll": 0.0010215634247288108,
                        "pitch": 0.3870053291320801,
                        "yaw": 90.10785675048828
                    }
                },
                "velocity": {
                    "x": -0.00331830233335495,
                    "y": 3.1031036376953125,
                    "z": 0.028967713937163353
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.612365101929754e-05,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.0026658857241272926,
                        "pitch": 0.21762347221374512,
                        "yaw": -179.8245086669922
                    }
                },
                "velocity": {
                    "x": 6.7451223912939895e-06,
                    "y": 1.9342096493346617e-06,
                    "z": -9.58671880653128e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00024206367379520088,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.001094680861569941,
                        "pitch": 0.21982279419898987,
                        "yaw": 179.8745574951172
                    }
                },
                "velocity": {
                    "x": 1.994371359614888e-06,
                    "y": -6.020948148943717e-06,
                    "z": -0.00024198056780733168
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.4294719696044922,
                "transform": {
                    "location": {
                        "x": 2187.874267578125,
                        "y": 2564.272705078125,
                        "z": 365.1159973144531
                    },
                    "rotation": {
                        "roll": 0.0017467457801103592,
                        "pitch": 0.2620948255062103,
                        "yaw": -89.48726654052734
                    }
                },
                "velocity": {
                    "x": 0.005809389054775238,
                    "y": -1.4294483661651611,
                    "z": 0.005812387447804213
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.4069530963897705,
                "transform": {
                    "location": {
                        "x": 2185.0224609375,
                        "y": 2486.328125,
                        "z": 364.9966735839844
                    },
                    "rotation": {
                        "roll": 0.0008611765224486589,
                        "pitch": 0.30860158801078796,
                        "yaw": 89.99055480957031
                    }
                },
                "velocity": {
                    "x": -0.0015490284422412515,
                    "y": 1.4069252014160156,
                    "z": 0.00871325470507145
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7842166423797607,
                "transform": {
                    "location": {
                        "x": 2185.016845703125,
                        "y": 2496.807861328125,
                        "z": 365.06256103515625
                    },
                    "rotation": {
                        "roll": -0.0006103473715484142,
                        "pitch": 0.2538507878780365,
                        "yaw": 90.03668975830078
                    }
                },
                "velocity": {
                    "x": -0.00313239055685699,
                    "y": 1.7841874361038208,
                    "z": 0.009719237685203552
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.0603253841400146,
                "transform": {
                    "location": {
                        "x": 2211.476318359375,
                        "y": 2524.286865234375,
                        "z": 365.7996520996094
                    },
                    "rotation": {
                        "roll": -0.00244140625,
                        "pitch": -1.5025322437286377,
                        "yaw": 179.966064453125
                    }
                },
                "velocity": {
                    "x": -2.0595200061798096,
                    "y": 0.00386673491448164,
                    "z": -0.05747826769948006
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.1879090070724487,
                "transform": {
                    "location": {
                        "x": 2146.996826171875,
                        "y": 2527.358642578125,
                        "z": 364.7521057128906
                    },
                    "rotation": {
                        "roll": 3.894432302331552e-05,
                        "pitch": -0.23810037970542908,
                        "yaw": 0.10413090884685516
                    }
                },
                "velocity": {
                    "x": 1.187902808189392,
                    "y": -0.0018666445976123214,
                    "z": -0.003373985178768635
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.34025952219963074,
        "expert_target_speed": 1.5117748371521653,
        "target_point": [
            10.277269679949475,
            8.695471786989822
        ],
        "target_point_next": [
            10.294488751691617,
            36.695534084008564
        ]
    },
    "360": {
        "acceleration": [
            -0.039147865027189255,
            -1.0557126998901367,
            -0.010134689509868622
        ],
        "angular_velocity": [
            -0.8555318117141724,
            0.04908028990030289,
            0.4448122978210449
        ],
        "forward_vector": [
            -6.322398985503241e-05,
            0.9999898076057434,
            0.0045107449404895306
        ],
        "right_vector": [
            -1.0,
            -6.411358481273055e-05,
            0.00019707180035766214
        ],
        "location": [
            2184.846923828125,
            2514.912841796875,
            365.130859375
        ],
        "rotation": [
            -0.011291497386991978,
            0.258447527885437,
            90.00362396240234
        ],
        "velocity": [
            -0.01142152864485979,
            2.8834688663482666,
            0.008531599305570126
        ],
        "speed": 2.8834914868118378,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.81474494934082,
        "front_vehicle_info": {
            "id": 48775,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2170.710693359375,
                2527.326416015625,
                364.87640380859375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.436331748962402,
                "transform": {
                    "location": {
                        "x": 2185.12890625,
                        "y": 2446.44140625,
                        "z": 364.6229553222656
                    },
                    "rotation": {
                        "roll": 0.001833360642194748,
                        "pitch": 0.8503516912460327,
                        "yaw": 90.66230773925781
                    }
                },
                "velocity": {
                    "x": -0.07279327511787415,
                    "y": 5.435486793518066,
                    "z": 0.06236257404088974
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.8311562538146973,
                "transform": {
                    "location": {
                        "x": 2225.611328125,
                        "y": 2524.272705078125,
                        "z": 366.21484375
                    },
                    "rotation": {
                        "roll": -0.005889892578125,
                        "pitch": -1.7834783792495728,
                        "yaw": -179.95213317871094
                    }
                },
                "velocity": {
                    "x": -1.8303072452545166,
                    "y": -4.9285248678643256e-05,
                    "z": -0.05575650557875633
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48777,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.1359989643096924,
                "transform": {
                    "location": {
                        "x": 2187.913818359375,
                        "y": 2539.281982421875,
                        "z": 365.1593017578125
                    },
                    "rotation": {
                        "roll": -0.002593990182504058,
                        "pitch": 0.31447556614875793,
                        "yaw": -89.99687957763672
                    }
                },
                "velocity": {
                    "x": 0.0023817867040634155,
                    "y": -2.1359968185424805,
                    "z": -0.001953020109795034
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0009834892116487026,
                "transform": {
                    "location": {
                        "x": 2160.406494140625,
                        "y": 2527.349365234375,
                        "z": 364.7904968261719
                    },
                    "rotation": {
                        "roll": -0.0009765623253770173,
                        "pitch": 0.28975710272789,
                        "yaw": -0.2402648627758026
                    }
                },
                "velocity": {
                    "x": 2.669915488695551e-07,
                    "y": 2.0260000383132137e-05,
                    "z": 0.000983280478976667
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.04835706576704979,
                "transform": {
                    "location": {
                        "x": 2185.03369140625,
                        "y": 2475.66015625,
                        "z": 364.9195861816406
                    },
                    "rotation": {
                        "roll": 0.004164444282650948,
                        "pitch": 0.16198475658893585,
                        "yaw": 89.77714538574219
                    }
                },
                "velocity": {
                    "x": 0.0006616914179176092,
                    "y": 0.0483524315059185,
                    "z": -0.00010111808660440147
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48775,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2170.710693359375,
                        "y": 2527.326416015625,
                        "z": 364.87640380859375
                    },
                    "rotation": {
                        "roll": 2.5661949621280655e-05,
                        "pitch": 0.9752894639968872,
                        "yaw": -0.11749265342950821
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0006647719419561327,
                "transform": {
                    "location": {
                        "x": 2200.4296875,
                        "y": 2524.310302734375,
                        "z": 365.5064697265625
                    },
                    "rotation": {
                        "roll": 0.0017007970018312335,
                        "pitch": -1.4165948629379272,
                        "yaw": 179.79397583007812
                    }
                },
                "velocity": {
                    "x": -2.376407246629242e-05,
                    "y": -2.0390036297612824e-05,
                    "z": -0.0006640340434387326
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.010489942505955696,
                "transform": {
                    "location": {
                        "x": 2187.900634765625,
                        "y": 2550.396484375,
                        "z": 365.1606140136719
                    },
                    "rotation": {
                        "roll": -9.155413135886192e-05,
                        "pitch": 0.13626909255981445,
                        "yaw": -89.75515747070312
                    }
                },
                "velocity": {
                    "x": -6.951708201086149e-05,
                    "y": 0.010483235120773315,
                    "z": 0.00036856651422567666
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.881408154964447,
                "transform": {
                    "location": {
                        "x": 2185.0458984375,
                        "y": 2464.56005859375,
                        "z": 364.80511474609375
                    },
                    "rotation": {
                        "roll": -0.00051879946840927,
                        "pitch": 0.3884669840335846,
                        "yaw": 90.08706665039062
                    }
                },
                "velocity": {
                    "x": 0.0012956723803654313,
                    "y": 0.8813681602478027,
                    "z": 0.008301915600895882
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.6688767320592888e-05,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.78143310546875
                    },
                    "rotation": {
                        "roll": 0.003260354744270444,
                        "pitch": 0.21778057515621185,
                        "yaw": -179.82449340820312
                    }
                },
                "velocity": {
                    "x": 8.115619493764825e-06,
                    "y": -2.385434345342219e-05,
                    "z": 8.797578630037606e-06
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0007148375734686852,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.001094680861569941,
                        "pitch": 0.21982279419898987,
                        "yaw": 179.8745574951172
                    }
                },
                "velocity": {
                    "x": 2.0994730220991187e-05,
                    "y": -7.954203465487808e-05,
                    "z": -0.000710088002961129
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.4494776725769043,
                "transform": {
                    "location": {
                        "x": 2187.876708984375,
                        "y": 2563.7548828125,
                        "z": 365.1181945800781
                    },
                    "rotation": {
                        "roll": 0.00257846899330616,
                        "pitch": 0.43055459856987,
                        "yaw": -89.5004653930664
                    }
                },
                "velocity": {
                    "x": 0.011757416650652885,
                    "y": -2.4494285583496094,
                    "z": 0.010094651952385902
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.266676187515259,
                "transform": {
                    "location": {
                        "x": 2185.0224609375,
                        "y": 2486.798583984375,
                        "z": 365.0000305175781
                    },
                    "rotation": {
                        "roll": 0.0005874173366464674,
                        "pitch": 0.2949821949005127,
                        "yaw": 90.01128387451172
                    }
                },
                "velocity": {
                    "x": -0.0025423981714993715,
                    "y": 2.2666287422180176,
                    "z": 0.014443978667259216
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7970134019851685,
                "transform": {
                    "location": {
                        "x": 2185.016845703125,
                        "y": 2497.2607421875,
                        "z": 365.0646667480469
                    },
                    "rotation": {
                        "roll": -0.0010681261774152517,
                        "pitch": 0.3075019419193268,
                        "yaw": 90.04853820800781
                    }
                },
                "velocity": {
                    "x": -0.0033621760085225105,
                    "y": 1.7969828844070435,
                    "z": 0.009932050481438637
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.5559778213500977,
                "transform": {
                    "location": {
                        "x": 2211.36279296875,
                        "y": 2524.286865234375,
                        "z": 365.7962341308594
                    },
                    "rotation": {
                        "roll": -0.005371093284338713,
                        "pitch": -1.6698582172393799,
                        "yaw": -179.98614501953125
                    }
                },
                "velocity": {
                    "x": -0.5557531118392944,
                    "y": -0.001617585658095777,
                    "z": -0.015722332522273064
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.8988502025604248,
                "transform": {
                    "location": {
                        "x": 2147.38427734375,
                        "y": 2527.36083984375,
                        "z": 364.7502136230469
                    },
                    "rotation": {
                        "roll": 0.00041477239574305713,
                        "pitch": -0.19202393293380737,
                        "yaw": 0.16218779981136322
                    }
                },
                "velocity": {
                    "x": 1.8988394737243652,
                    "y": -0.001721511478535831,
                    "z": -0.006153573747724295
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.24478349089622498,
        "expert_target_speed": 3.798894720024423,
        "target_point": [
            9.551270289902972,
            8.677977680626432
        ],
        "target_point_next": [
            9.612796175240813,
            36.67797767524778
        ]
    },
    "365": {
        "acceleration": [
            -0.12362629175186157,
            -2.2437620162963867,
            -0.008794022724032402
        ],
        "angular_velocity": [
            -0.6945346593856812,
            0.022900160402059555,
            1.4141207933425903
        ],
        "forward_vector": [
            -0.004508879967033863,
            0.9999895095825195,
            0.0007902382640168071
        ],
        "right_vector": [
            -0.9999895095825195,
            -0.00450949277728796,
            0.0007755120750516653
        ],
        "location": [
            2184.839599609375,
            2515.57080078125,
            365.13330078125
        ],
        "rotation": [
            -0.0444335862994194,
            0.045277319848537445,
            90.25833892822266
        ],
        "velocity": [
            -0.04695858806371689,
            2.3720550537109375,
            0.005838632583618164
        ],
        "speed": 2.3725198180054337,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.381689071655273,
        "front_vehicle_info": {
            "id": 48775,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2170.710693359375,
                2527.326416015625,
                364.87640380859375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.215508937835693,
                "transform": {
                    "location": {
                        "x": 2185.115966796875,
                        "y": 2447.84326171875,
                        "z": 364.6390075683594
                    },
                    "rotation": {
                        "roll": 0.014730777591466904,
                        "pitch": 0.8034009337425232,
                        "yaw": 90.55424499511719
                    }
                },
                "velocity": {
                    "x": -0.052410535514354706,
                    "y": 6.214888095855713,
                    "z": 0.07052366435527802
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.8279751539230347,
                "transform": {
                    "location": {
                        "x": 2225.054443359375,
                        "y": 2524.272705078125,
                        "z": 366.19781494140625
                    },
                    "rotation": {
                        "roll": -0.00823974609375,
                        "pitch": -1.7325457334518433,
                        "yaw": -179.86483764648438
                    }
                },
                "velocity": {
                    "x": -1.8271615505218506,
                    "y": 0.001984854694455862,
                    "z": -0.05449848622083664
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48777,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.415117025375366,
                "transform": {
                    "location": {
                        "x": 2187.913818359375,
                        "y": 2538.587646484375,
                        "z": 365.1583557128906
                    },
                    "rotation": {
                        "roll": -0.0018920744769275188,
                        "pitch": 0.4513661861419678,
                        "yaw": -89.97457885742188
                    }
                },
                "velocity": {
                    "x": 0.003863029181957245,
                    "y": -3.415114402770996,
                    "z": -0.0016147422138601542
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0012254446046426892,
                "transform": {
                    "location": {
                        "x": 2160.406494140625,
                        "y": 2527.349365234375,
                        "z": 364.7904968261719
                    },
                    "rotation": {
                        "roll": -0.0009765623253770173,
                        "pitch": 0.28975710272789,
                        "yaw": -0.2402648627758026
                    }
                },
                "velocity": {
                    "x": -2.971000867546536e-05,
                    "y": -4.971583257429302e-05,
                    "z": 0.001224075211212039
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.25472205877304077,
                "transform": {
                    "location": {
                        "x": 2185.03369140625,
                        "y": 2475.681396484375,
                        "z": 364.9169921875
                    },
                    "rotation": {
                        "roll": -0.0026855659671127796,
                        "pitch": 0.4969918429851532,
                        "yaw": 89.79588317871094
                    }
                },
                "velocity": {
                    "x": 0.0002846566785592586,
                    "y": 0.2547045350074768,
                    "z": 0.0029740810859948397
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48775,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2170.710693359375,
                        "y": 2527.326416015625,
                        "z": 364.87640380859375
                    },
                    "rotation": {
                        "roll": 2.5661949621280655e-05,
                        "pitch": 0.9752894639968872,
                        "yaw": -0.11749265342950821
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0004788263177033514,
                "transform": {
                    "location": {
                        "x": 2200.4296875,
                        "y": 2524.310302734375,
                        "z": 365.5064697265625
                    },
                    "rotation": {
                        "roll": 0.0017007970018312335,
                        "pitch": -1.4165948629379272,
                        "yaw": 179.79397583007812
                    }
                },
                "velocity": {
                    "x": -2.7009247787646018e-05,
                    "y": -5.316679562383797e-06,
                    "z": -0.0004780343733727932
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.017447104677557945,
                "transform": {
                    "location": {
                        "x": 2187.900634765625,
                        "y": 2550.396728515625,
                        "z": 365.1607360839844
                    },
                    "rotation": {
                        "roll": -0.001251221401616931,
                        "pitch": 0.12130415439605713,
                        "yaw": -89.7557144165039
                    }
                },
                "velocity": {
                    "x": -6.22687439317815e-05,
                    "y": -0.017437707632780075,
                    "z": 0.0005691528203897178
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.2113263607025146,
                "transform": {
                    "location": {
                        "x": 2185.0458984375,
                        "y": 2464.849365234375,
                        "z": 364.80718994140625
                    },
                    "rotation": {
                        "roll": 0.0004792007093783468,
                        "pitch": 0.5272837281227112,
                        "yaw": 90.1114730834961
                    }
                },
                "velocity": {
                    "x": -0.0009827472968026996,
                    "y": 1.2112728357315063,
                    "z": 0.011339855380356312
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.000282282882835716,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.002411874243989587,
                        "pitch": 0.2176303118467331,
                        "yaw": -179.82449340820312
                    }
                },
                "velocity": {
                    "x": 3.7065519791212864e-06,
                    "y": -1.3203988601162564e-05,
                    "z": -0.00028194955666549504
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0003510442329570651,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0006719693774357438,
                        "pitch": 0.21955642104148865,
                        "yaw": 179.87469482421875
                    }
                },
                "velocity": {
                    "x": 6.2289086599776056e-06,
                    "y": 4.566746792988852e-05,
                    "z": -0.00034800535649992526
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0022965094540268183,
                "transform": {
                    "location": {
                        "x": 2187.878173828125,
                        "y": 2563.402099609375,
                        "z": 365.1194763183594
                    },
                    "rotation": {
                        "roll": -0.006896963343024254,
                        "pitch": -0.13885091245174408,
                        "yaw": -89.419921875
                    }
                },
                "velocity": {
                    "x": -7.963999814819545e-05,
                    "y": -0.0016790394438430667,
                    "z": 0.001564749050885439
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.2379639148712158,
                "transform": {
                    "location": {
                        "x": 2185.023193359375,
                        "y": 2487.302978515625,
                        "z": 365.00225830078125
                    },
                    "rotation": {
                        "roll": 0.001458271057344973,
                        "pitch": 0.4196058213710785,
                        "yaw": 90.12344360351562
                    }
                },
                "velocity": {
                    "x": -0.014873536303639412,
                    "y": 1.2378398180007935,
                    "z": 0.009271821938455105
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8020368814468384,
                "transform": {
                    "location": {
                        "x": 2185.016845703125,
                        "y": 2497.739013671875,
                        "z": 365.067138671875
                    },
                    "rotation": {
                        "roll": -0.00018311057647224516,
                        "pitch": 0.31770622730255127,
                        "yaw": 90.05963134765625
                    }
                },
                "velocity": {
                    "x": -0.0028974551241844893,
                    "y": 1.8020086288452148,
                    "z": 0.009662981145083904
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.5745741128921509,
                "transform": {
                    "location": {
                        "x": 2211.090576171875,
                        "y": 2524.286865234375,
                        "z": 365.7889709472656
                    },
                    "rotation": {
                        "roll": -0.0038757319562137127,
                        "pitch": -1.447692632675171,
                        "yaw": -179.9699249267578
                    }
                },
                "velocity": {
                    "x": -1.5739622116088867,
                    "y": 0.0021186317317187786,
                    "z": -0.04383944347500801
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.068816661834717,
                "transform": {
                    "location": {
                        "x": 2147.82470703125,
                        "y": 2527.354248046875,
                        "z": 364.74853515625
                    },
                    "rotation": {
                        "roll": -0.001190185546875,
                        "pitch": -0.19354023039340973,
                        "yaw": 0.7014608383178711
                    }
                },
                "velocity": {
                    "x": 2.068804979324341,
                    "y": -0.0026550462935119867,
                    "z": -0.0064451503567397594
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.11924940347671509,
        "expert_target_speed": 3.3019909622636443,
        "target_point": [
            8.932254773632621,
            8.63052971016219
        ],
        "target_point_next": [
            9.119830558824866,
            36.629968998443864
        ]
    },
    "370": {
        "acceleration": [
            0.005261674523353577,
            -2.0186901092529297,
            0.0052656140178442
        ],
        "angular_velocity": [
            -0.2145550400018692,
            -0.11821701377630234,
            1.1574922800064087
        ],
        "forward_vector": [
            -0.010064944624900818,
            0.9999486207962036,
            -0.0012181993806734681
        ],
        "right_vector": [
            -0.9999491572380066,
            -0.010064280591905117,
            0.0005496758385561407
        ],
        "location": [
            2184.8291015625,
            2516.0869140625,
            365.13482666015625
        ],
        "rotation": [
            -0.031494129449129105,
            -0.06979770213365555,
            90.57669067382812
        ],
        "velocity": [
            -0.0501055046916008,
            1.8130844831466675,
            0.005551423877477646
        ],
        "speed": 1.8137766964617277,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.047786712646484,
        "front_vehicle_info": {
            "id": 48775,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2170.710693359375,
                2527.326416015625,
                364.87640380859375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.106266975402832,
                "transform": {
                    "location": {
                        "x": 2185.100830078125,
                        "y": 2449.711669921875,
                        "z": 364.66046142578125
                    },
                    "rotation": {
                        "roll": 0.011045381426811218,
                        "pitch": 0.9933211803436279,
                        "yaw": 90.46862030029297
                    }
                },
                "velocity": {
                    "x": -0.06244451925158501,
                    "y": 8.105509757995605,
                    "z": 0.09154767543077469
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.144953727722168,
                "transform": {
                    "location": {
                        "x": 2224.90087890625,
                        "y": 2524.273193359375,
                        "z": 366.1931457519531
                    },
                    "rotation": {
                        "roll": -0.011749267578125,
                        "pitch": -1.8264403343200684,
                        "yaw": -179.7716827392578
                    }
                },
                "velocity": {
                    "x": -1.1443949937820435,
                    "y": -0.0019403364276513457,
                    "z": -0.03571205958724022
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48777,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.0614421367645264,
                "transform": {
                    "location": {
                        "x": 2187.91552734375,
                        "y": 2537.739013671875,
                        "z": 365.1592102050781
                    },
                    "rotation": {
                        "roll": -0.0014038075460121036,
                        "pitch": 0.1291930228471756,
                        "yaw": -89.95584106445312
                    }
                },
                "velocity": {
                    "x": 0.0040186005644500256,
                    "y": -3.0614383220672607,
                    "z": -0.002545432886108756
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0011872670147567987,
                "transform": {
                    "location": {
                        "x": 2160.406494140625,
                        "y": 2527.349365234375,
                        "z": 364.7904968261719
                    },
                    "rotation": {
                        "roll": -0.0009765623253770173,
                        "pitch": 0.28975710272789,
                        "yaw": -0.2402648627758026
                    }
                },
                "velocity": {
                    "x": -6.3096358644543216e-06,
                    "y": 3.624895543907769e-05,
                    "z": 0.0011866968125104904
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.224837303161621,
                "transform": {
                    "location": {
                        "x": 2185.033935546875,
                        "y": 2475.88037109375,
                        "z": 364.91693115234375
                    },
                    "rotation": {
                        "roll": -0.004638700745999813,
                        "pitch": 0.7160769701004028,
                        "yaw": 89.82122039794922
                    }
                },
                "velocity": {
                    "x": -0.0007553613977506757,
                    "y": 1.2248001098632812,
                    "z": 0.00951910950243473
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48775,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2170.710693359375,
                        "y": 2527.326416015625,
                        "z": 364.87640380859375
                    },
                    "rotation": {
                        "roll": 2.5661949621280655e-05,
                        "pitch": 0.9752894639968872,
                        "yaw": -0.11749265342950821
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00016378209693357348,
                "transform": {
                    "location": {
                        "x": 2200.4296875,
                        "y": 2524.310302734375,
                        "z": 365.5064697265625
                    },
                    "rotation": {
                        "roll": 0.0017007970018312335,
                        "pitch": -1.4165948629379272,
                        "yaw": 179.79397583007812
                    }
                },
                "velocity": {
                    "x": -5.000874443794601e-05,
                    "y": -2.2058446120354347e-05,
                    "z": 0.00015439276467077434
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.5731228590011597,
                "transform": {
                    "location": {
                        "x": 2187.900634765625,
                        "y": 2550.31396484375,
                        "z": 365.16033935546875
                    },
                    "rotation": {
                        "roll": 0.0012719029327854514,
                        "pitch": 0.1918463408946991,
                        "yaw": -89.77024841308594
                    }
                },
                "velocity": {
                    "x": 0.0004999935626983643,
                    "y": -0.5731191039085388,
                    "z": 0.002017822116613388
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.4752893447875977,
                "transform": {
                    "location": {
                        "x": 2185.042724609375,
                        "y": 2465.26953125,
                        "z": 364.81085205078125
                    },
                    "rotation": {
                        "roll": -0.0019226043950766325,
                        "pitch": 0.5633813142776489,
                        "yaw": 89.84628295898438
                    }
                },
                "velocity": {
                    "x": -0.0038398972246795893,
                    "y": 1.4752161502838135,
                    "z": 0.01418676320463419
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.9356259144842625e-05,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.002712195971980691,
                        "pitch": 0.21775324642658234,
                        "yaw": -179.82449340820312
                    }
                },
                "velocity": {
                    "x": 6.047859642421827e-06,
                    "y": 2.1608836675568455e-07,
                    "z": -1.8385902876616456e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0002928144531324506,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0009901769226416945,
                        "pitch": 0.2199184149503708,
                        "yaw": 179.8747100830078
                    }
                },
                "velocity": {
                    "x": 6.64022154523991e-05,
                    "y": -6.646926976827672e-06,
                    "z": 0.00028510851552709937
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.3907277584075928,
                "transform": {
                    "location": {
                        "x": 2187.87890625,
                        "y": 2563.20751953125,
                        "z": 365.12042236328125
                    },
                    "rotation": {
                        "roll": 0.0033981373999267817,
                        "pitch": 0.31600552797317505,
                        "yaw": -89.4728012084961
                    }
                },
                "velocity": {
                    "x": 0.007305556442588568,
                    "y": -1.3906970024108887,
                    "z": 0.00567799573764205
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.0748963356018066,
                "transform": {
                    "location": {
                        "x": 2185.023681640625,
                        "y": 2487.464599609375,
                        "z": 365.003662109375
                    },
                    "rotation": {
                        "roll": 0.00024317110364791006,
                        "pitch": 0.3922782242298126,
                        "yaw": 90.20912170410156
                    }
                },
                "velocity": {
                    "x": -0.001821756362915039,
                    "y": 1.074874997138977,
                    "z": 0.006521911360323429
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.6432496905326843,
                "transform": {
                    "location": {
                        "x": 2185.01708984375,
                        "y": 2497.877685546875,
                        "z": 365.06744384765625
                    },
                    "rotation": {
                        "roll": 0.0006297258078120649,
                        "pitch": 0.387982040643692,
                        "yaw": 90.07192993164062
                    }
                },
                "velocity": {
                    "x": -0.000950221496168524,
                    "y": 0.6432456970214844,
                    "z": 0.00207317341119051
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.021958589553833,
                "transform": {
                    "location": {
                        "x": 2210.59423828125,
                        "y": 2524.287841796875,
                        "z": 365.7754211425781
                    },
                    "rotation": {
                        "roll": -0.007080077659338713,
                        "pitch": -1.448485016822815,
                        "yaw": -179.91976928710938
                    }
                },
                "velocity": {
                    "x": -2.021251916885376,
                    "y": 0.003043578239157796,
                    "z": -0.05337435007095337
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.0189692974090576,
                "transform": {
                    "location": {
                        "x": 2148.214599609375,
                        "y": 2527.35693359375,
                        "z": 364.74737548828125
                    },
                    "rotation": {
                        "roll": -0.00299072265625,
                        "pitch": -0.22894109785556793,
                        "yaw": 0.45464661717414856
                    }
                },
                "velocity": {
                    "x": 1.018944263458252,
                    "y": 0.006004573777318001,
                    "z": -0.003881282638758421
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.021219562739133835,
        "expert_target_speed": 2.7595702559851336,
        "target_point": [
            8.463896481521767,
            8.575441484360587
        ],
        "target_point_next": [
            8.807103191917276,
            36.57340559404723
        ]
    },
    "375": {
        "acceleration": [
            -0.11274859309196472,
            -0.5370354652404785,
            -0.0037803687155246735
        ],
        "angular_velocity": [
            0.2881738543510437,
            0.04864552989602089,
            1.6144046783447266
        ],
        "forward_vector": [
            -0.01632419042289257,
            0.9998664259910583,
            -0.0007749794749543071
        ],
        "right_vector": [
            -0.9998665452003479,
            -0.016323737800121307,
            0.000587493006605655
        ],
        "location": [
            2184.8154296875,
            2516.498291015625,
            365.1357727050781
        ],
        "rotation": [
            -0.0336608849465847,
            -0.04440305754542351,
            90.93534851074219
        ],
        "velocity": [
            -0.06820227205753326,
            1.5406544208526611,
            0.0040235803462564945
        ],
        "speed": 1.5421632839640096,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.783676147460938,
        "front_vehicle_info": {
            "id": 48775,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2170.710693359375,
                2527.326416015625,
                364.87640380859375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.033736228942871,
                "transform": {
                    "location": {
                        "x": 2185.0869140625,
                        "y": 2451.61376953125,
                        "z": 364.6817932128906
                    },
                    "rotation": {
                        "roll": 0.01097058691084385,
                        "pitch": 0.5772739052772522,
                        "yaw": 90.41725158691406
                    }
                },
                "velocity": {
                    "x": -0.0426936037838459,
                    "y": 7.03315544128418,
                    "z": 0.07964161038398743
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.3635246753692627,
                "transform": {
                    "location": {
                        "x": 2224.44970703125,
                        "y": 2524.272705078125,
                        "z": 366.1793518066406
                    },
                    "rotation": {
                        "roll": -0.0068664527498185635,
                        "pitch": -1.569939374923706,
                        "yaw": -179.8156280517578
                    }
                },
                "velocity": {
                    "x": -2.3624372482299805,
                    "y": -0.002195832785218954,
                    "z": -0.0716557502746582
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48777,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.9972264766693115,
                "transform": {
                    "location": {
                        "x": 2187.916259765625,
                        "y": 2537.0146484375,
                        "z": 365.15936279296875
                    },
                    "rotation": {
                        "roll": -0.0009460466098971665,
                        "pitch": -0.05197090655565262,
                        "yaw": -89.94406127929688
                    }
                },
                "velocity": {
                    "x": 0.004441082011908293,
                    "y": -2.997222423553467,
                    "z": -0.0020728111267089844
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.000770614598877728,
                "transform": {
                    "location": {
                        "x": 2160.406494140625,
                        "y": 2527.349365234375,
                        "z": 364.7904968261719
                    },
                    "rotation": {
                        "roll": -0.0009765623253770173,
                        "pitch": 0.28975710272789,
                        "yaw": -0.2402648627758026
                    }
                },
                "velocity": {
                    "x": -1.6270316336886026e-05,
                    "y": -1.963992508535739e-05,
                    "z": 0.0007701924769207835
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.2842602729797363,
                "transform": {
                    "location": {
                        "x": 2185.034423828125,
                        "y": 2476.30615234375,
                        "z": 364.92041015625
                    },
                    "rotation": {
                        "roll": -0.0032959007658064365,
                        "pitch": 0.7124296426773071,
                        "yaw": 89.87970733642578
                    }
                },
                "velocity": {
                    "x": -0.0017601114232093096,
                    "y": 2.2841882705688477,
                    "z": 0.018073929473757744
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48775,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2170.710693359375,
                        "y": 2527.326416015625,
                        "z": 364.87640380859375
                    },
                    "rotation": {
                        "roll": 2.5661949621280655e-05,
                        "pitch": 0.9752894639968872,
                        "yaw": -0.11749265342950821
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0008673667325638235,
                "transform": {
                    "location": {
                        "x": 2200.4296875,
                        "y": 2524.310302734375,
                        "z": 365.5064697265625
                    },
                    "rotation": {
                        "roll": 0.0017007970018312335,
                        "pitch": -1.4165948629379272,
                        "yaw": 179.79397583007812
                    }
                },
                "velocity": {
                    "x": -2.2793561583966948e-05,
                    "y": 3.197233581886394e-06,
                    "z": -0.0008670613169670105
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.1894642114639282,
                "transform": {
                    "location": {
                        "x": 2187.900634765625,
                        "y": 2550.1025390625,
                        "z": 365.1604309082031
                    },
                    "rotation": {
                        "roll": 0.0012874347157776356,
                        "pitch": 0.2352931797504425,
                        "yaw": -89.77031707763672
                    }
                },
                "velocity": {
                    "x": 0.0027968951035290956,
                    "y": -1.1894593238830566,
                    "z": 0.0019106387626379728
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.9306166172027588,
                "transform": {
                    "location": {
                        "x": 2185.042236328125,
                        "y": 2465.719970703125,
                        "z": 364.8150634765625
                    },
                    "rotation": {
                        "roll": -0.0024108821526169777,
                        "pitch": 0.5693098902702332,
                        "yaw": 89.864501953125
                    }
                },
                "velocity": {
                    "x": -0.0002579412830527872,
                    "y": 1.930533528327942,
                    "z": 0.017911367118358612
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.6626075092935935e-05,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.002691487781703472,
                        "pitch": 0.217725932598114,
                        "yaw": -179.82443237304688
                    }
                },
                "velocity": {
                    "x": 5.887634870305192e-06,
                    "y": 2.583319428595132e-06,
                    "z": -5.62598834221717e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00047110693412832916,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0009901769226416945,
                        "pitch": 0.2199184149503708,
                        "yaw": 179.8747100830078
                    }
                },
                "velocity": {
                    "x": -1.2675076504820026e-05,
                    "y": 2.2782915038987994e-05,
                    "z": -0.0004703849845100194
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.4472103118896484,
                "transform": {
                    "location": {
                        "x": 2187.880859375,
                        "y": 2562.69970703125,
                        "z": 365.1225280761719
                    },
                    "rotation": {
                        "roll": 0.004797894973307848,
                        "pitch": 0.438805490732193,
                        "yaw": -89.63268280029297
                    }
                },
                "velocity": {
                    "x": 0.009394614957273006,
                    "y": -2.4471728801727295,
                    "z": 0.009751672856509686
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.972938060760498,
                "transform": {
                    "location": {
                        "x": 2185.0234375,
                        "y": 2487.848388671875,
                        "z": 365.0069580078125
                    },
                    "rotation": {
                        "roll": 0.0001410612021572888,
                        "pitch": 0.2896614670753479,
                        "yaw": 90.18922424316406
                    }
                },
                "velocity": {
                    "x": -0.0026213102973997593,
                    "y": 1.9728950262069702,
                    "z": 0.012772655114531517
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.496607780456543,
                "transform": {
                    "location": {
                        "x": 2185.01708984375,
                        "y": 2498.153076171875,
                        "z": 365.0700378417969
                    },
                    "rotation": {
                        "roll": 0.0019751836080104113,
                        "pitch": 0.24633759260177612,
                        "yaw": 90.09382629394531
                    }
                },
                "velocity": {
                    "x": -0.0031057086307555437,
                    "y": 1.4965873956680298,
                    "z": 0.007188148330897093
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.002218480221927166,
                "transform": {
                    "location": {
                        "x": 2210.505615234375,
                        "y": 2524.2880859375,
                        "z": 365.77276611328125
                    },
                    "rotation": {
                        "roll": -0.010192868299782276,
                        "pitch": -1.7140768766403198,
                        "yaw": -179.84927368164062
                    }
                },
                "velocity": {
                    "x": 0.0017238333821296692,
                    "y": -0.00015632464783266187,
                    "z": 0.001387665281072259
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.5144277215003967,
                "transform": {
                    "location": {
                        "x": 2148.489990234375,
                        "y": 2527.357666015625,
                        "z": 364.7464904785156
                    },
                    "rotation": {
                        "roll": -0.0015869138296693563,
                        "pitch": -0.27334415912628174,
                        "yaw": 0.38545387983322144
                    }
                },
                "velocity": {
                    "x": 0.5143976211547852,
                    "y": 0.0002805770200211555,
                    "z": -0.005553827155381441
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": 0.08730030059814453,
        "expert_target_speed": 2.49032823349539,
        "target_point": [
            8.105921385767632,
            8.515281779595533
        ],
        "target_point_next": [
            8.624565406389186,
            36.510545548905434
        ]
    },
    "380": {
        "acceleration": [
            -0.05717575550079346,
            0.34886598587036133,
            0.0020338036119937897
        ],
        "angular_velocity": [
            0.3689851760864258,
            -0.0668037161231041,
            1.90401291847229
        ],
        "forward_vector": [
            -0.02422802895307541,
            0.9997062087059021,
            0.0007214545039460063
        ],
        "right_vector": [
            -0.9997062087059021,
            -0.024228496477007866,
            0.0006487458595074713
        ],
        "location": [
            2184.79736328125,
            2516.878173828125,
            365.1364440917969
        ],
        "rotation": [
            -0.0371704138815403,
            0.0413363017141819,
            91.38829803466797
        ],
        "velocity": [
            -0.08918465673923492,
            1.535224437713623,
            0.0028081797063350677
        ],
        "speed": 1.5378127249931328,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.54045867919922,
        "front_vehicle_info": {
            "id": 48775,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2170.710693359375,
                2527.326416015625,
                364.87640380859375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.1792086362838745,
                "transform": {
                    "location": {
                        "x": 2185.080810546875,
                        "y": 2452.6875,
                        "z": 364.693115234375
                    },
                    "rotation": {
                        "roll": 0.004189601168036461,
                        "pitch": -0.2912938892841339,
                        "yaw": 90.34034729003906
                    }
                },
                "velocity": {
                    "x": -0.006404208485037088,
                    "y": 1.1791293621063232,
                    "z": 0.01208167988806963
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.014996828511357307,
                "transform": {
                    "location": {
                        "x": 2224.0234375,
                        "y": 2524.272705078125,
                        "z": 366.16619873046875
                    },
                    "rotation": {
                        "roll": -0.019256586208939552,
                        "pitch": -2.0912466049194336,
                        "yaw": -179.6357421875
                    }
                },
                "velocity": {
                    "x": -0.014934549108147621,
                    "y": 0.0009755977662280202,
                    "z": -0.0009551524999551475
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48777,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.712662696838379,
                "transform": {
                    "location": {
                        "x": 2187.9169921875,
                        "y": 2536.279296875,
                        "z": 365.1590881347656
                    },
                    "rotation": {
                        "roll": 7.141692913137376e-05,
                        "pitch": -0.09799271821975708,
                        "yaw": -89.93798065185547
                    }
                },
                "velocity": {
                    "x": 0.003666837699711323,
                    "y": -2.7126598358154297,
                    "z": -0.001351156155578792
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00029415293829515576,
                "transform": {
                    "location": {
                        "x": 2160.406494140625,
                        "y": 2527.349365234375,
                        "z": 364.7904968261719
                    },
                    "rotation": {
                        "roll": -0.0009765623253770173,
                        "pitch": 0.28975710272789,
                        "yaw": -0.2402648627758026
                    }
                },
                "velocity": {
                    "x": -1.0565481716184877e-05,
                    "y": -4.353307758719893e-06,
                    "z": 0.00029393090517260134
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.120841979980469,
                "transform": {
                    "location": {
                        "x": 2185.03466796875,
                        "y": 2477.123291015625,
                        "z": 364.9258117675781
                    },
                    "rotation": {
                        "roll": -0.004364092834293842,
                        "pitch": 0.8522504568099976,
                        "yaw": 89.94043731689453
                    }
                },
                "velocity": {
                    "x": -0.004102798644453287,
                    "y": 4.120711326599121,
                    "z": 0.03253574296832085
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48775,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2170.710693359375,
                        "y": 2527.326416015625,
                        "z": 364.87640380859375
                    },
                    "rotation": {
                        "roll": 2.5661949621280655e-05,
                        "pitch": 0.9752894639968872,
                        "yaw": -0.11749265342950821
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.000837202649563551,
                "transform": {
                    "location": {
                        "x": 2200.4296875,
                        "y": 2524.310302734375,
                        "z": 365.5064697265625
                    },
                    "rotation": {
                        "roll": 0.0017007970018312335,
                        "pitch": -1.4165948629379272,
                        "yaw": 179.79397583007812
                    }
                },
                "velocity": {
                    "x": -2.1394936993601732e-05,
                    "y": -4.1881830838974565e-06,
                    "z": -0.000836918770801276
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.4003829956054688,
                "transform": {
                    "location": {
                        "x": 2187.901123046875,
                        "y": 2549.647705078125,
                        "z": 365.1604309082031
                    },
                    "rotation": {
                        "roll": 0.0016554036410525441,
                        "pitch": 0.34469231963157654,
                        "yaw": -89.76378631591797
                    }
                },
                "velocity": {
                    "x": 0.004315301775932312,
                    "y": -2.4003779888153076,
                    "z": 0.002427720930427313
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.2963767051696777,
                "transform": {
                    "location": {
                        "x": 2185.04296875,
                        "y": 2466.13037109375,
                        "z": 364.81927490234375
                    },
                    "rotation": {
                        "roll": 0.0003831186913885176,
                        "pitch": 0.49776366353034973,
                        "yaw": 89.9469985961914
                    }
                },
                "velocity": {
                    "x": 0.00551165547221899,
                    "y": 1.2963035106658936,
                    "z": 0.012627887539565563
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0002460493997205049,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.002691487781703472,
                        "pitch": 0.217725932598114,
                        "yaw": -179.82443237304688
                    }
                },
                "velocity": {
                    "x": 3.3047049328160938e-06,
                    "y": -1.7920036043506116e-05,
                    "z": -0.0002453736960887909
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00017164800374303013,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0009901769226416945,
                        "pitch": 0.2199184149503708,
                        "yaw": 179.8747100830078
                    }
                },
                "velocity": {
                    "x": 1.7605349285076954e-06,
                    "y": 6.25561187916901e-06,
                    "z": -0.00017152493819594383
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0004508136189542711,
                "transform": {
                    "location": {
                        "x": 2187.88232421875,
                        "y": 2562.369873046875,
                        "z": 365.1236877441406
                    },
                    "rotation": {
                        "roll": 0.002696071285754442,
                        "pitch": -0.13680867850780487,
                        "yaw": -89.79940795898438
                    }
                },
                "velocity": {
                    "x": 2.8254124117665924e-05,
                    "y": -0.00041087178396992385,
                    "z": -0.00018335490312892944
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.0091731548309326,
                "transform": {
                    "location": {
                        "x": 2185.0234375,
                        "y": 2488.39013671875,
                        "z": 365.0099792480469
                    },
                    "rotation": {
                        "roll": 0.0011552298674359918,
                        "pitch": 0.34407758712768555,
                        "yaw": 90.17305755615234
                    }
                },
                "velocity": {
                    "x": -0.003054610686376691,
                    "y": 2.009127616882324,
                    "z": 0.01314746867865324
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.2788000106811523,
                "transform": {
                    "location": {
                        "x": 2185.016357421875,
                        "y": 2498.63427734375,
                        "z": 365.0728759765625
                    },
                    "rotation": {
                        "roll": 0.001309044542722404,
                        "pitch": 0.21771909296512604,
                        "yaw": 90.10194396972656
                    }
                },
                "velocity": {
                    "x": -0.004830553196370602,
                    "y": 2.278766393661499,
                    "z": 0.011412791907787323
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0011856704950332642,
                "transform": {
                    "location": {
                        "x": 2210.504638671875,
                        "y": 2524.2880859375,
                        "z": 365.77294921875
                    },
                    "rotation": {
                        "roll": -0.010009765625,
                        "pitch": -1.5786410570144653,
                        "yaw": -179.84939575195312
                    }
                },
                "velocity": {
                    "x": 0.0004126512794755399,
                    "y": -4.204868309898302e-05,
                    "z": 0.0011107499012723565
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.8532549142837524,
                "transform": {
                    "location": {
                        "x": 2148.944091796875,
                        "y": 2527.358642578125,
                        "z": 364.74420166015625
                    },
                    "rotation": {
                        "roll": 0.0004603008565027267,
                        "pitch": -0.17113721370697021,
                        "yaw": 0.207550510764122
                    }
                },
                "velocity": {
                    "x": 1.853239893913269,
                    "y": -0.001826740801334381,
                    "z": -0.007218723185360432
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": 0.16126714646816254,
        "expert_target_speed": 2.4761392617293265,
        "target_point": [
            7.792765712364912,
            8.442087831191044
        ],
        "target_point_next": [
            8.532673942730636,
            36.432377592892315
        ]
    },
    "385": {
        "acceleration": [
            -0.2794747054576874,
            1.5343832969665527,
            0.001486586406826973
        ],
        "angular_velocity": [
            0.4224790632724762,
            0.10479871928691864,
            2.6757044792175293
        ],
        "forward_vector": [
            -0.03418368846178055,
            0.9994123578071594,
            0.0025390356313437223
        ],
        "right_vector": [
            -0.9994152188301086,
            -0.034185729920864105,
            0.000764324446208775
        ],
        "location": [
            2184.772216796875,
            2517.29150390625,
            365.1367492675781
        ],
        "rotation": [
            -0.043792709708213806,
            0.14547619223594666,
            91.95896911621094
        ],
        "velocity": [
            -0.13322138786315918,
            1.801322340965271,
            0.0020296478178352118
        ],
        "speed": 1.8062419866243808,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.276973724365234,
        "front_vehicle_info": {
            "id": 48775,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2170.710693359375,
                2527.326416015625,
                364.8761901855469
            ],
            "velocity": [
                -9.218156264978461e-06,
                -3.063369513256475e-05,
                -0.0014542931457981467
            ],
            "speed_kmh": 0.005236721846031962,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.097906231880188,
                "transform": {
                    "location": {
                        "x": 2185.08056640625,
                        "y": 2452.80908203125,
                        "z": 364.6946716308594
                    },
                    "rotation": {
                        "roll": 0.0037546202074736357,
                        "pitch": 0.3514951765537262,
                        "yaw": 90.36683654785156
                    }
                },
                "velocity": {
                    "x": -0.0040703630074858665,
                    "y": 1.0978249311447144,
                    "z": 0.012727613560855389
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.1094846725463867,
                "transform": {
                    "location": {
                        "x": 2223.89306640625,
                        "y": 2524.272705078125,
                        "z": 366.16229248046875
                    },
                    "rotation": {
                        "roll": -0.013641356490552425,
                        "pitch": -1.7455708980560303,
                        "yaw": -179.68722534179688
                    }
                },
                "velocity": {
                    "x": -1.1089714765548706,
                    "y": -0.0012211027787998319,
                    "z": -0.03371744602918625
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0016262823482975364,
                "transform": {
                    "location": {
                        "x": 2160.406494140625,
                        "y": 2527.349365234375,
                        "z": 364.7904968261719
                    },
                    "rotation": {
                        "roll": -0.0009765623253770173,
                        "pitch": 0.28975710272789,
                        "yaw": -0.2402648627758026
                    }
                },
                "velocity": {
                    "x": -2.1216048480710015e-05,
                    "y": -4.31474472861737e-05,
                    "z": 0.0016255713999271393
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.459261417388916,
                "transform": {
                    "location": {
                        "x": 2185.032958984375,
                        "y": 2478.105224609375,
                        "z": 364.9366760253906
                    },
                    "rotation": {
                        "roll": -0.0008239980088546872,
                        "pitch": 0.4586471915245056,
                        "yaw": 89.98744201660156
                    }
                },
                "velocity": {
                    "x": -0.003988093230873346,
                    "y": 3.459146738052368,
                    "z": 0.027854975312948227
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48775,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0014546449529007077,
                "transform": {
                    "location": {
                        "x": 2170.710693359375,
                        "y": 2527.326416015625,
                        "z": 364.8761901855469
                    },
                    "rotation": {
                        "roll": -0.0012817381648346782,
                        "pitch": 0.9811566472053528,
                        "yaw": -0.1174316257238388
                    }
                },
                "velocity": {
                    "x": -9.218156264978461e-06,
                    "y": -3.063369513256475e-05,
                    "z": -0.0014542931457981467
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0007538381614722311,
                "transform": {
                    "location": {
                        "x": 2200.4296875,
                        "y": 2524.310302734375,
                        "z": 365.5064697265625
                    },
                    "rotation": {
                        "roll": 0.0017007970018312335,
                        "pitch": -1.4165948629379272,
                        "yaw": 179.79397583007812
                    }
                },
                "velocity": {
                    "x": -2.1714567992603406e-05,
                    "y": 2.1037621991126798e-05,
                    "z": -0.0007532316376455128
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.13442325592041,
                "transform": {
                    "location": {
                        "x": 2187.9033203125,
                        "y": 2548.8369140625,
                        "z": 365.1604309082031
                    },
                    "rotation": {
                        "roll": 0.003123366739600897,
                        "pitch": 0.46491044759750366,
                        "yaw": -89.80120849609375
                    }
                },
                "velocity": {
                    "x": 0.0071023195050656796,
                    "y": -4.134414196014404,
                    "z": 0.004995603580027819
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.2329429388046265,
                "transform": {
                    "location": {
                        "x": 2185.046630859375,
                        "y": 2466.566162109375,
                        "z": 364.8232421875
                    },
                    "rotation": {
                        "roll": 0.0032617244869470596,
                        "pitch": 0.49663668870925903,
                        "yaw": 90.38301849365234
                    }
                },
                "velocity": {
                    "x": 0.014914402738213539,
                    "y": 1.2328345775604248,
                    "z": 0.0066805649548769
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0002973318041767925,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.78143310546875
                    },
                    "rotation": {
                        "roll": 0.002818944863975048,
                        "pitch": 0.2177600860595703,
                        "yaw": -179.82440185546875
                    }
                },
                "velocity": {
                    "x": 6.812475476181135e-06,
                    "y": -7.203733275673585e-06,
                    "z": -0.00029716643621213734
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0005222440813668072,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0009901769226416945,
                        "pitch": 0.2199184149503708,
                        "yaw": 179.8747100830078
                    }
                },
                "velocity": {
                    "x": -1.2063160284014884e-05,
                    "y": 1.674083796388004e-05,
                    "z": -0.0005218362784944475
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.3379169702529907,
                "transform": {
                    "location": {
                        "x": 2187.882568359375,
                        "y": 2562.1787109375,
                        "z": 365.1244812011719
                    },
                    "rotation": {
                        "roll": 0.0020204444881528616,
                        "pitch": 0.3089977502822876,
                        "yaw": -89.81073760986328
                    }
                },
                "velocity": {
                    "x": 0.004090167582035065,
                    "y": -1.337902545928955,
                    "z": 0.004679670091718435
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.2815451920032501,
                "transform": {
                    "location": {
                        "x": 2185.023193359375,
                        "y": 2488.585205078125,
                        "z": 365.0098876953125
                    },
                    "rotation": {
                        "roll": 0.00284142536111176,
                        "pitch": 0.5272632837295532,
                        "yaw": 90.15474700927734
                    }
                },
                "velocity": {
                    "x": -0.00046650960575789213,
                    "y": 0.2815408408641815,
                    "z": 0.0014975261874496937
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8080775737762451,
                "transform": {
                    "location": {
                        "x": 2185.015625,
                        "y": 2499.16162109375,
                        "z": 365.0748291015625
                    },
                    "rotation": {
                        "roll": 0.0003082835755776614,
                        "pitch": 0.3133280873298645,
                        "yaw": 90.10309600830078
                    }
                },
                "velocity": {
                    "x": -0.003985296003520489,
                    "y": 1.8080474138259888,
                    "z": 0.009653177112340927
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.001349275466054678,
                "transform": {
                    "location": {
                        "x": 2210.50439453125,
                        "y": 2524.2880859375,
                        "z": 365.77301025390625
                    },
                    "rotation": {
                        "roll": -0.008453366346657276,
                        "pitch": -1.549523949623108,
                        "yaw": -179.8494415283203
                    }
                },
                "velocity": {
                    "x": 3.6242006899556145e-05,
                    "y": -0.0002794488100335002,
                    "z": 0.0013195222709327936
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.1820735931396484,
                "transform": {
                    "location": {
                        "x": 2149.374267578125,
                        "y": 2527.361083984375,
                        "z": 364.74261474609375
                    },
                    "rotation": {
                        "roll": 0.000823894573841244,
                        "pitch": -0.1853303462266922,
                        "yaw": -0.01486205868422985
                    }
                },
                "velocity": {
                    "x": 2.1820602416992188,
                    "y": -0.00026427043485455215,
                    "z": -0.007667054887861013
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": 0.3142207860946655,
        "expert_target_speed": 2.7191276077644124,
        "target_point": [
            7.462506363175946,
            8.353057897665673
        ],
        "target_point_next": [
            8.48113476976574,
            36.33459075958463
        ]
    },
    "390": {
        "acceleration": [
            -0.4164537787437439,
            1.6091060638427734,
            0.010433197021484375
        ],
        "angular_velocity": [
            0.22180414199829102,
            0.18282072246074677,
            4.533307075500488
        ],
        "forward_vector": [
            -0.049985919147729874,
            0.9987421035766602,
            0.003956426400691271
        ],
        "right_vector": [
            -0.9987485408782959,
            -0.04999207705259323,
            0.0014727158704772592
        ],
        "location": [
            2184.72998046875,
            2517.79345703125,
            365.1372985839844
        ],
        "rotation": [
            -0.0843810960650444,
            0.22668713331222534,
            92.86519622802734
        ],
        "velocity": [
            -0.22865621745586395,
            2.1986944675445557,
            0.002625265158712864
        ],
        "speed": 2.2105521996533493,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.928363800048828,
        "front_vehicle_info": {
            "id": 48775,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2170.743408203125,
                2527.326416015625,
                364.8765563964844
            ],
            "velocity": [
                0.34345370531082153,
                3.378708424861543e-05,
                0.0068161580711603165
            ],
            "speed_kmh": 1.2366768125182075,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.3635902404785156,
                "transform": {
                    "location": {
                        "x": 2185.07861328125,
                        "y": 2453.263427734375,
                        "z": 364.6998291015625
                    },
                    "rotation": {
                        "roll": 0.004070722497999668,
                        "pitch": 0.7866396903991699,
                        "yaw": 90.33415222167969
                    }
                },
                "velocity": {
                    "x": -0.010427766479551792,
                    "y": 2.3634238243103027,
                    "z": 0.026032904163002968
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.389202117919922,
                "transform": {
                    "location": {
                        "x": 2223.45068359375,
                        "y": 2524.272216796875,
                        "z": 366.14886474609375
                    },
                    "rotation": {
                        "roll": -0.009948727674782276,
                        "pitch": -1.5499815940856934,
                        "yaw": -179.74501037597656
                    }
                },
                "velocity": {
                    "x": -2.3880996704101562,
                    "y": -0.003048455575481057,
                    "z": -0.07251329720020294
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0010972695890814066,
                "transform": {
                    "location": {
                        "x": 2160.406494140625,
                        "y": 2527.349365234375,
                        "z": 364.7904968261719
                    },
                    "rotation": {
                        "roll": -0.0009765623253770173,
                        "pitch": 0.28975710272789,
                        "yaw": -0.2402648627758026
                    }
                },
                "velocity": {
                    "x": -3.579750409699045e-05,
                    "y": 2.3864535251050256e-05,
                    "z": 0.001096425810828805
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0036223409697413445,
                "transform": {
                    "location": {
                        "x": 2185.03125,
                        "y": 2478.54541015625,
                        "z": 364.9466247558594
                    },
                    "rotation": {
                        "roll": 7.958915375638753e-05,
                        "pitch": -0.34564852714538574,
                        "yaw": 89.85853576660156
                    }
                },
                "velocity": {
                    "x": -0.0005448195734061301,
                    "y": 0.0035805569496005774,
                    "z": -6.432709778891876e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48775,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.3435213267803192,
                "transform": {
                    "location": {
                        "x": 2170.743408203125,
                        "y": 2527.326416015625,
                        "z": 364.8765563964844
                    },
                    "rotation": {
                        "roll": -0.0009460450382903218,
                        "pitch": 1.0630301237106323,
                        "yaw": -0.1083373948931694
                    }
                },
                "velocity": {
                    "x": 0.34345370531082153,
                    "y": 3.378708424861543e-05,
                    "z": 0.0068161580711603165
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00017761813069228083,
                "transform": {
                    "location": {
                        "x": 2200.4296875,
                        "y": 2524.310302734375,
                        "z": 365.5064697265625
                    },
                    "rotation": {
                        "roll": 0.0017007970018312335,
                        "pitch": -1.4165948629379272,
                        "yaw": 179.79397583007812
                    }
                },
                "velocity": {
                    "x": -3.830716013908386e-05,
                    "y": 9.305565072281752e-06,
                    "z": -0.00017318825121037662
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.067729473114014,
                "transform": {
                    "location": {
                        "x": 2187.90673828125,
                        "y": 2547.635009765625,
                        "z": 365.1632080078125
                    },
                    "rotation": {
                        "roll": 0.006655000150203705,
                        "pitch": 0.3366668224334717,
                        "yaw": -90.00318145751953
                    }
                },
                "velocity": {
                    "x": 0.0027327570132911205,
                    "y": -4.067725658416748,
                    "z": 0.0047166538424789906
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.6623789072036743,
                "transform": {
                    "location": {
                        "x": 2185.045166015625,
                        "y": 2466.8798828125,
                        "z": 364.8263244628906
                    },
                    "rotation": {
                        "roll": -0.000213609921047464,
                        "pitch": 0.4443379342556,
                        "yaw": 90.15705871582031
                    }
                },
                "velocity": {
                    "x": -0.0005712686106562614,
                    "y": 0.6623572111129761,
                    "z": 0.00533307995647192
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.992005415260792e-06,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.0025359306018799543,
                        "pitch": 0.2176986038684845,
                        "yaw": -179.82440185546875
                    }
                },
                "velocity": {
                    "x": 4.007257302873768e-06,
                    "y": -6.584881475646398e-07,
                    "z": 2.9031709800619865e-06
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00031422352185472846,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0009901769226416945,
                        "pitch": 0.2199184149503708,
                        "yaw": 179.8747100830078
                    }
                },
                "velocity": {
                    "x": -4.5477968342311215e-06,
                    "y": -6.194013167259982e-06,
                    "z": -0.00031412954558618367
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.6110646724700928,
                "transform": {
                    "location": {
                        "x": 2187.884521484375,
                        "y": 2561.681884765625,
                        "z": 365.1263122558594
                    },
                    "rotation": {
                        "roll": 0.00122570910025388,
                        "pitch": 0.4456971287727356,
                        "yaw": -89.82106018066406
                    }
                },
                "velocity": {
                    "x": 0.007022223901003599,
                    "y": -2.6110329627990723,
                    "z": 0.010817022062838078
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.19918692111969,
                "transform": {
                    "location": {
                        "x": 2185.023193359375,
                        "y": 2488.778076171875,
                        "z": 365.0128173828125
                    },
                    "rotation": {
                        "roll": 0.001871313783340156,
                        "pitch": 0.31757646799087524,
                        "yaw": 90.14247131347656
                    }
                },
                "velocity": {
                    "x": -0.0028266343288123608,
                    "y": 1.1991604566574097,
                    "z": 0.007449455093592405
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.747834324836731,
                "transform": {
                    "location": {
                        "x": 2185.015625,
                        "y": 2499.575927734375,
                        "z": 365.07708740234375
                    },
                    "rotation": {
                        "roll": -0.00039673029095865786,
                        "pitch": 0.3069828450679779,
                        "yaw": 90.14667510986328
                    }
                },
                "velocity": {
                    "x": -0.0039001356344670057,
                    "y": 1.747805118560791,
                    "z": 0.009319438599050045
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0010688696056604385,
                "transform": {
                    "location": {
                        "x": 2210.50439453125,
                        "y": 2524.2880859375,
                        "z": 365.77301025390625
                    },
                    "rotation": {
                        "roll": -0.007507323753088713,
                        "pitch": -1.5398865938186646,
                        "yaw": -179.8495330810547
                    }
                },
                "velocity": {
                    "x": -4.7494173486484215e-05,
                    "y": -6.943719768059964e-07,
                    "z": 0.0010678137186914682
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.2435237169265747,
                "transform": {
                    "location": {
                        "x": 2149.6005859375,
                        "y": 2527.36328125,
                        "z": 364.7419738769531
                    },
                    "rotation": {
                        "roll": 9.502967441221699e-05,
                        "pitch": -0.21969301998615265,
                        "yaw": -0.2528685927391052
                    }
                },
                "velocity": {
                    "x": 1.2435150146484375,
                    "y": 0.0038743331097066402,
                    "z": -0.002588243456557393
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": 0.48220694065093994,
        "expert_target_speed": 3.083083713557235,
        "target_point": [
            7.090250239716823,
            8.216891336336444
        ],
        "target_point_next": [
            8.551314638988334,
            36.17881322941352
        ]
    },
    "395": {
        "acceleration": [
            -1.2139350175857544,
            1.6407489776611328,
            -2.6319175958633423e-05
        ],
        "angular_velocity": [
            0.00010278133413521573,
            0.5969765186309814,
            9.511174201965332
        ],
        "forward_vector": [
            -0.08059123903512955,
            0.9967368245124817,
            0.004571898374706507
        ],
        "right_vector": [
            -0.9967396855354309,
            -0.08060761541128159,
            0.0035190563648939133
        ],
        "location": [
            2184.65087890625,
            2518.397705078125,
            365.1381530761719
        ],
        "rotation": [
            -0.20162959396839142,
            0.26195138692855835,
            94.62259674072266
        ],
        "velocity": [
            -0.45562928915023804,
            2.6099560260772705,
            0.0031725692097097635
        ],
        "speed": 2.649427958482474,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.36960792541504,
        "front_vehicle_info": {
            "id": 48775,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2170.932861328125,
                2527.325927734375,
                364.8794860839844
            ],
            "velocity": [
                1.1231821775436401,
                -0.0019262459827587008,
                0.020336637273430824
            ],
            "speed_kmh": 4.044124527231254,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00598930986598134,
                "transform": {
                    "location": {
                        "x": 2185.076904296875,
                        "y": 2453.66162109375,
                        "z": 364.70404052734375
                    },
                    "rotation": {
                        "roll": 0.0032389331609010696,
                        "pitch": 0.27126777172088623,
                        "yaw": 90.08797454833984
                    }
                },
                "velocity": {
                    "x": -0.0008470796747133136,
                    "y": 0.005923763383179903,
                    "z": 0.00025163215468637645
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.22081544995307922,
                "transform": {
                    "location": {
                        "x": 2222.972412109375,
                        "y": 2524.27197265625,
                        "z": 366.1341247558594
                    },
                    "rotation": {
                        "roll": -0.01950073055922985,
                        "pitch": -2.020533800125122,
                        "yaw": -179.64431762695312
                    }
                },
                "velocity": {
                    "x": -0.2206743359565735,
                    "y": 0.001953129656612873,
                    "z": -0.007647533435374498
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48786,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": 2187.77685546875,
                        "y": 2576.30126953125,
                        "z": 365.3976745605469
                    },
                    "rotation": {
                        "roll": -2.6680980980131608e-08,
                        "pitch": 0.3695405423641205,
                        "yaw": -89.93964385986328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.001268210238777101,
                "transform": {
                    "location": {
                        "x": 2160.406494140625,
                        "y": 2527.349365234375,
                        "z": 364.7904968261719
                    },
                    "rotation": {
                        "roll": -0.0009765623253770173,
                        "pitch": 0.28975710272789,
                        "yaw": -0.2402648627758026
                    }
                },
                "velocity": {
                    "x": -3.0758455977775156e-05,
                    "y": -5.199007136980072e-05,
                    "z": 0.001266770763322711
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.005824019201099873,
                "transform": {
                    "location": {
                        "x": 2185.03125,
                        "y": 2478.54931640625,
                        "z": 364.9425354003906
                    },
                    "rotation": {
                        "roll": 0.001200924045406282,
                        "pitch": 0.16161592304706573,
                        "yaw": 89.8583984375
                    }
                },
                "velocity": {
                    "x": 6.658088386757299e-05,
                    "y": -0.005822876468300819,
                    "z": -9.420530841453001e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48775,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.1233679056167603,
                "transform": {
                    "location": {
                        "x": 2170.932861328125,
                        "y": 2527.325927734375,
                        "z": 364.8794860839844
                    },
                    "rotation": {
                        "roll": -0.0008850098238326609,
                        "pitch": 1.242479681968689,
                        "yaw": -0.0960693210363388
                    }
                },
                "velocity": {
                    "x": 1.1231821775436401,
                    "y": -0.0019262459827587008,
                    "z": 0.020336637273430824
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.308860297896899e-05,
                "transform": {
                    "location": {
                        "x": 2200.4296875,
                        "y": 2524.310302734375,
                        "z": 365.5064697265625
                    },
                    "rotation": {
                        "roll": 0.0017007970018312335,
                        "pitch": -1.4165948629379272,
                        "yaw": 179.79397583007812
                    }
                },
                "velocity": {
                    "x": -3.995194856543094e-05,
                    "y": -9.745766504920539e-08,
                    "z": -1.61387724801898e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.8718791007995605,
                "transform": {
                    "location": {
                        "x": 2187.909423828125,
                        "y": 2546.582763671875,
                        "z": 365.166748046875
                    },
                    "rotation": {
                        "roll": 0.00651553925126791,
                        "pitch": 0.013346188701689243,
                        "yaw": -90.25833129882812
                    }
                },
                "velocity": {
                    "x": -0.00032433774322271347,
                    "y": -4.871878147125244,
                    "z": 0.003163566580042243
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.9465631246566772,
                "transform": {
                    "location": {
                        "x": 2185.04541015625,
                        "y": 2467.238525390625,
                        "z": 364.82904052734375
                    },
                    "rotation": {
                        "roll": 0.0024943691678345203,
                        "pitch": 0.5690571665763855,
                        "yaw": 90.1904525756836
                    }
                },
                "velocity": {
                    "x": -0.0017895796336233616,
                    "y": 1.9464702606201172,
                    "z": 0.01892828941345215
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.0025359306018799543,
                        "pitch": 0.2176986038684845,
                        "yaw": -179.82440185546875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00016313610831275582,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0005227065412327647,
                        "pitch": 0.21963155269622803,
                        "yaw": 179.874755859375
                    }
                },
                "velocity": {
                    "x": -2.3177339244284667e-05,
                    "y": 6.727079744450748e-05,
                    "z": 0.00014680204913020134
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.214259624481201,
                "transform": {
                    "location": {
                        "x": 2187.886474609375,
                        "y": 2560.81787109375,
                        "z": 365.129638671875
                    },
                    "rotation": {
                        "roll": 0.0036574748810380697,
                        "pitch": 0.5169018507003784,
                        "yaw": -89.83574676513672
                    }
                },
                "velocity": {
                    "x": 0.009059452451765537,
                    "y": -4.214223384857178,
                    "z": 0.01494621206074953
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.015133857727051,
                "transform": {
                    "location": {
                        "x": 2185.022705078125,
                        "y": 2489.18408203125,
                        "z": 365.015625
                    },
                    "rotation": {
                        "roll": 0.0004199952236376703,
                        "pitch": 0.28797441720962524,
                        "yaw": 90.11595153808594
                    }
                },
                "velocity": {
                    "x": -0.0024196216836571693,
                    "y": 2.015092134475708,
                    "z": 0.012744054198265076
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.4140067100524902,
                "transform": {
                    "location": {
                        "x": 2185.013427734375,
                        "y": 2500.107177734375,
                        "z": 365.0804138183594
                    },
                    "rotation": {
                        "roll": 0.0003738894301932305,
                        "pitch": 0.24101004004478455,
                        "yaw": 90.14859008789062
                    }
                },
                "velocity": {
                    "x": -0.0054869018495082855,
                    "y": 2.413975477218628,
                    "z": 0.010999641381204128
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0009792910423129797,
                "transform": {
                    "location": {
                        "x": 2210.50439453125,
                        "y": 2524.2880859375,
                        "z": 365.77301025390625
                    },
                    "rotation": {
                        "roll": -0.007476804777979851,
                        "pitch": -1.5378990173339844,
                        "yaw": -179.849609375
                    }
                },
                "velocity": {
                    "x": -9.095936547964811e-05,
                    "y": 1.7633777815717622e-06,
                    "z": 0.0009750559693202376
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.2065050601959229,
                "transform": {
                    "location": {
                        "x": 2150.03076171875,
                        "y": 2527.36376953125,
                        "z": 364.74029541015625
                    },
                    "rotation": {
                        "roll": 0.00023998276446945965,
                        "pitch": -0.2024877816438675,
                        "yaw": -0.2874144911766052
                    }
                },
                "velocity": {
                    "x": 1.2064927816390991,
                    "y": 0.0014309701509773731,
                    "z": -0.00525400135666132
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": 0.6429286003112793,
        "expert_target_speed": 3.466518144380651,
        "target_point": [
            6.730255027834026,
            7.965434673584277
        ],
        "target_point_next": [
            9.0481744749691,
            35.86939558543253
        ]
    },
    "400": {
        "acceleration": [
            -0.6238925457000732,
            0.4246807098388672,
            -0.04021034017205238
        ],
        "angular_velocity": [
            -0.35668155550956726,
            -0.549682080745697,
            11.669210433959961
        ],
        "forward_vector": [
            -0.12894703447818756,
            0.9916431903839111,
            0.0040521505288779736
        ],
        "right_vector": [
            -0.9916388392448425,
            -0.12896491587162018,
            0.004514539148658514
        ],
        "location": [
            2184.514892578125,
            2519.089111328125,
            365.13922119140625
        ],
        "rotation": [
            -0.2586670517921448,
            0.23217177391052246,
            97.4088134765625
        ],
        "velocity": [
            -0.6792038679122925,
            2.851640462875366,
            0.0011904430575668812
        ],
        "speed": 2.931411131809227,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.562163352966309,
        "front_vehicle_info": {
            "id": 48775,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2171.313232421875,
                2527.3251953125,
                364.88623046875
            ],
            "velocity": [
                1.8696136474609375,
                -0.004817247856408358,
                0.03463181480765343
            ],
            "speed_kmh": 6.731786075019602,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.5218052864074707,
                "transform": {
                    "location": {
                        "x": 2185.076171875,
                        "y": 2453.88818359375,
                        "z": 364.7066650390625
                    },
                    "rotation": {
                        "roll": 0.0013926909305155277,
                        "pitch": 0.7075529098510742,
                        "yaw": 90.05380249023438
                    }
                },
                "velocity": {
                    "x": -0.004170274827629328,
                    "y": 1.521710991859436,
                    "z": 0.01641191355884075
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.169022560119629,
                "transform": {
                    "location": {
                        "x": 2222.83740234375,
                        "y": 2524.271728515625,
                        "z": 366.1300354003906
                    },
                    "rotation": {
                        "roll": -0.01483154110610485,
                        "pitch": -1.757749080657959,
                        "yaw": -179.7244110107422
                    }
                },
                "velocity": {
                    "x": -1.1684844493865967,
                    "y": -0.0026156711392104626,
                    "z": -0.035368721932172775
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48786,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.4067384600639343,
                "transform": {
                    "location": {
                        "x": 2187.77685546875,
                        "y": 2576.30078125,
                        "z": 365.0123291015625
                    },
                    "rotation": {
                        "roll": 5.941842755419202e-05,
                        "pitch": 0.352103054523468,
                        "yaw": -89.93975830078125
                    }
                },
                "velocity": {
                    "x": -6.452249363064766e-05,
                    "y": -0.00258132116869092,
                    "z": -0.4067302644252777
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.2519823908805847,
                "transform": {
                    "location": {
                        "x": 2160.423095703125,
                        "y": 2527.34912109375,
                        "z": 364.7904968261719
                    },
                    "rotation": {
                        "roll": -0.0012512205867096782,
                        "pitch": 0.30599245429039,
                        "yaw": -0.2370300143957138
                    }
                },
                "velocity": {
                    "x": 0.2519715130329132,
                    "y": -0.0005695605068467557,
                    "z": 0.002269906923174858
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.017090706154704094,
                "transform": {
                    "location": {
                        "x": 2185.03125,
                        "y": 2478.552001953125,
                        "z": 364.939453125
                    },
                    "rotation": {
                        "roll": -0.001983619062229991,
                        "pitch": 0.5445504784584045,
                        "yaw": 89.85816955566406
                    }
                },
                "velocity": {
                    "x": 0.00017450199811719358,
                    "y": -0.01708916947245598,
                    "z": -0.00014860152441542596
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48775,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.8699405193328857,
                "transform": {
                    "location": {
                        "x": 2171.313232421875,
                        "y": 2527.3251953125,
                        "z": 364.88623046875
                    },
                    "rotation": {
                        "roll": 0.0018393212230876088,
                        "pitch": 1.3345506191253662,
                        "yaw": -0.1507568210363388
                    }
                },
                "velocity": {
                    "x": 1.8696136474609375,
                    "y": -0.004817247856408358,
                    "z": 0.03463181480765343
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0006485288613475859,
                "transform": {
                    "location": {
                        "x": 2200.4296875,
                        "y": 2524.310302734375,
                        "z": 365.5064697265625
                    },
                    "rotation": {
                        "roll": 0.0017007970018312335,
                        "pitch": -1.4165948629379272,
                        "yaw": 179.79397583007812
                    }
                },
                "velocity": {
                    "x": -1.8909722712123767e-05,
                    "y": 8.33336616778979e-06,
                    "z": -0.0006481995224021375
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.9402031898498535,
                "transform": {
                    "location": {
                        "x": 2187.908447265625,
                        "y": 2545.536865234375,
                        "z": 365.1687316894531
                    },
                    "rotation": {
                        "roll": 5.34810678800568e-05,
                        "pitch": -0.13906946778297424,
                        "yaw": -90.13689422607422
                    }
                },
                "velocity": {
                    "x": 0.0019041007617488503,
                    "y": -3.940202236175537,
                    "z": 0.0020703028421849012
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.933722734451294,
                "transform": {
                    "location": {
                        "x": 2185.04345703125,
                        "y": 2467.64892578125,
                        "z": 364.8328857421875
                    },
                    "rotation": {
                        "roll": 3.6020242077938747e-06,
                        "pitch": 0.5517358183860779,
                        "yaw": 90.06456756591797
                    }
                },
                "velocity": {
                    "x": -0.005011053755879402,
                    "y": 1.933625340461731,
                    "z": 0.01875079981982708
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00015718815848231316,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.002546527422964573,
                        "pitch": 0.21765762567520142,
                        "yaw": -179.8243865966797
                    }
                },
                "velocity": {
                    "x": 7.658600225113332e-06,
                    "y": -1.3215045328252017e-05,
                    "z": -0.00015644432278349996
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0006338488892652094,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0005227065412327647,
                        "pitch": 0.21963155269622803,
                        "yaw": 179.874755859375
                    }
                },
                "velocity": {
                    "x": -1.8503627870813943e-05,
                    "y": 2.5004330382216722e-05,
                    "z": -0.0006330851465463638
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.336180686950684,
                "transform": {
                    "location": {
                        "x": 2187.888427734375,
                        "y": 2559.587646484375,
                        "z": 365.1344909667969
                    },
                    "rotation": {
                        "roll": 0.0021524298936128616,
                        "pitch": 0.4509495496749878,
                        "yaw": -89.86800384521484
                    }
                },
                "velocity": {
                    "x": 0.010705200955271721,
                    "y": -5.336132526397705,
                    "z": 0.019952191039919853
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.90557599067688,
                "transform": {
                    "location": {
                        "x": 2185.021240234375,
                        "y": 2489.8017578125,
                        "z": 365.0196838378906
                    },
                    "rotation": {
                        "roll": 0.0005054533830843866,
                        "pitch": 0.28084370493888855,
                        "yaw": 90.12149047851562
                    }
                },
                "velocity": {
                    "x": -0.004963845945894718,
                    "y": 2.9055120944976807,
                    "z": 0.018608637154102325
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.160073757171631,
                "transform": {
                    "location": {
                        "x": 2185.011474609375,
                        "y": 2500.7119140625,
                        "z": 365.0828857421875
                    },
                    "rotation": {
                        "roll": 0.0006274121697060764,
                        "pitch": 0.3006512522697449,
                        "yaw": 90.14117431640625
                    }
                },
                "velocity": {
                    "x": -0.004661200568079948,
                    "y": 2.1600327491760254,
                    "z": 0.012466487474739552
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0012085565831512213,
                "transform": {
                    "location": {
                        "x": 2210.50439453125,
                        "y": 2524.2880859375,
                        "z": 365.77301025390625
                    },
                    "rotation": {
                        "roll": -0.007873534224927425,
                        "pitch": -1.5365533828735352,
                        "yaw": -179.8497314453125
                    }
                },
                "velocity": {
                    "x": -8.752256690058857e-05,
                    "y": -4.205906225251965e-05,
                    "z": 0.001204649219289422
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.2701102495193481,
                "transform": {
                    "location": {
                        "x": 2150.412841796875,
                        "y": 2527.36474609375,
                        "z": 364.73883056640625
                    },
                    "rotation": {
                        "roll": 0.0026281222235411406,
                        "pitch": -0.20461879670619965,
                        "yaw": -0.3663634955883026
                    }
                },
                "velocity": {
                    "x": 1.2700859308242798,
                    "y": -0.006120073143392801,
                    "z": -0.004924554843455553
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": 0.8152069449424744,
        "expert_target_speed": 3.690195195205196,
        "target_point": [
            6.406321233699951,
            7.583172753619594
        ],
        "target_point_next": [
            10.07788229383045,
            35.3414764574682
        ]
    },
    "405": {
        "acceleration": [
            -0.9756696224212646,
            -1.2555503845214844,
            -0.11664196848869324
        ],
        "angular_velocity": [
            -2.2145836353302,
            -0.18569153547286987,
            14.9540376663208
        ],
        "forward_vector": [
            -0.18727722764015198,
            0.9823058843612671,
            -0.001532315625809133
        ],
        "right_vector": [
            -0.9822810888290405,
            -0.1872606873512268,
            0.007571818307042122
        ],
        "location": [
            2184.32421875,
            2519.80126953125,
            365.1356506347656
        ],
        "rotation": [
            -0.433837890625,
            -0.08779525011777878,
            100.7939453125
        ],
        "velocity": [
            -0.9233372211456299,
            2.7807209491729736,
            -0.04063503071665764
        ],
        "speed": 2.930010344883167,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.510040283203125,
        "front_vehicle_info": {
            "id": 48775,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2171.918701171875,
                2527.32373046875,
                364.8969421386719
            ],
            "velocity": [
                2.999246835708618,
                -0.0069812568835914135,
                0.05538647621870041
            ],
            "speed_kmh": 10.799158755958759,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.2071447372436523,
                "transform": {
                    "location": {
                        "x": 2185.07421875,
                        "y": 2454.40673828125,
                        "z": 364.7123107910156
                    },
                    "rotation": {
                        "roll": 7.609922613482922e-05,
                        "pitch": 0.7577069997787476,
                        "yaw": 90.07951354980469
                    }
                },
                "velocity": {
                    "x": -0.006584460381418467,
                    "y": 2.2069990634918213,
                    "z": 0.024491624906659126
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.476896047592163,
                "transform": {
                    "location": {
                        "x": 2222.371337890625,
                        "y": 2524.27099609375,
                        "z": 366.1158447265625
                    },
                    "rotation": {
                        "roll": -0.010284422896802425,
                        "pitch": -1.5438549518585205,
                        "yaw": -179.7493896484375
                    }
                },
                "velocity": {
                    "x": -2.475721836090088,
                    "y": -0.002963571809232235,
                    "z": -0.07620248943567276
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48786,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.12812255322933197,
                "transform": {
                    "location": {
                        "x": 2187.77685546875,
                        "y": 2576.300537109375,
                        "z": 365.029052734375
                    },
                    "rotation": {
                        "roll": 0.0008707859669812024,
                        "pitch": 0.3571642339229584,
                        "yaw": -89.93975830078125
                    }
                },
                "velocity": {
                    "x": 0.0003908554499503225,
                    "y": 0.0008423260296694934,
                    "z": 0.12811918556690216
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.0223153829574585,
                "transform": {
                    "location": {
                        "x": 2160.587646484375,
                        "y": 2527.3486328125,
                        "z": 364.7908630371094
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": 0.3614262640476227,
                        "yaw": -0.2391357421875
                    }
                },
                "velocity": {
                    "x": 1.0222994089126587,
                    "y": -0.002094466472044587,
                    "z": 0.005326109007000923
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.006167049519717693,
                "transform": {
                    "location": {
                        "x": 2185.03125,
                        "y": 2478.549072265625,
                        "z": 364.93988037109375
                    },
                    "rotation": {
                        "roll": -0.0017700170865282416,
                        "pitch": 0.4890346825122833,
                        "yaw": 89.85848999023438
                    }
                },
                "velocity": {
                    "x": -0.0001954843755811453,
                    "y": 0.006163104437291622,
                    "z": -0.00010211944027105346
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48775,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.9997663497924805,
                "transform": {
                    "location": {
                        "x": 2171.918701171875,
                        "y": 2527.32373046875,
                        "z": 364.8969421386719
                    },
                    "rotation": {
                        "roll": -0.0021362302359193563,
                        "pitch": 1.4794598817825317,
                        "yaw": -0.1486511081457138
                    }
                },
                "velocity": {
                    "x": 2.999246835708618,
                    "y": -0.0069812568835914135,
                    "z": 0.05538647621870041
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.5610231356695294e-05,
                "transform": {
                    "location": {
                        "x": 2200.4296875,
                        "y": 2524.310302734375,
                        "z": 365.5064697265625
                    },
                    "rotation": {
                        "roll": 0.0017007970018312335,
                        "pitch": -1.4165948629379272,
                        "yaw": 179.79397583007812
                    }
                },
                "velocity": {
                    "x": -3.737568840733729e-05,
                    "y": 1.503581529505027e-06,
                    "z": -4.1149665776174515e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.59664249420166,
                "transform": {
                    "location": {
                        "x": 2187.90869140625,
                        "y": 2544.36376953125,
                        "z": 365.1667785644531
                    },
                    "rotation": {
                        "roll": -0.002899155719205737,
                        "pitch": 0.21706339716911316,
                        "yaw": -90.10259246826172
                    }
                },
                "velocity": {
                    "x": 0.004875659476965666,
                    "y": -4.596639156341553,
                    "z": 0.0026427553966641426
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.6536362171173096,
                "transform": {
                    "location": {
                        "x": 2185.048583984375,
                        "y": 2467.99072265625,
                        "z": 364.8365478515625
                    },
                    "rotation": {
                        "roll": 0.001766963629052043,
                        "pitch": 0.44193369150161743,
                        "yaw": 90.62450408935547
                    }
                },
                "velocity": {
                    "x": -0.0014127388130873442,
                    "y": 0.6536189317703247,
                    "z": 0.004541387315839529
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.073272379580885e-05,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.0028314024675637484,
                        "pitch": 0.21765762567520142,
                        "yaw": -179.82435607910156
                    }
                },
                "velocity": {
                    "x": 4.545599040284287e-06,
                    "y": -3.066108547500335e-05,
                    "z": 5.222737672738731e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0001251253270311281,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0005227065412327647,
                        "pitch": 0.21963155269622803,
                        "yaw": 179.874755859375
                    }
                },
                "velocity": {
                    "x": 7.420517249556724e-06,
                    "y": -2.467215381329879e-05,
                    "z": -0.00012244413665030152
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.013760566711426,
                "transform": {
                    "location": {
                        "x": 2187.890625,
                        "y": 2558.16064453125,
                        "z": 365.1390075683594
                    },
                    "rotation": {
                        "roll": 0.00260124821215868,
                        "pitch": 0.3678534924983978,
                        "yaw": -89.91690063476562
                    }
                },
                "velocity": {
                    "x": 0.010137592442333698,
                    "y": -6.013726711273193,
                    "z": 0.017506657168269157
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.9125514030456543,
                "transform": {
                    "location": {
                        "x": 2185.01904296875,
                        "y": 2490.660888671875,
                        "z": 365.0252380371094
                    },
                    "rotation": {
                        "roll": -0.0007324255420826375,
                        "pitch": 0.2653391659259796,
                        "yaw": 90.10539245605469
                    }
                },
                "velocity": {
                    "x": -0.004994838498532772,
                    "y": 3.9124772548675537,
                    "z": 0.023584488779306412
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1803505420684814,
                "transform": {
                    "location": {
                        "x": 2185.01025390625,
                        "y": 2501.2255859375,
                        "z": 365.085693359375
                    },
                    "rotation": {
                        "roll": 0.0010501295328140259,
                        "pitch": 0.3024885654449463,
                        "yaw": 90.13497924804688
                    }
                },
                "velocity": {
                    "x": -0.004567049443721771,
                    "y": 2.1803221702575684,
                    "z": 0.010136575438082218
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0014074817299842834,
                "transform": {
                    "location": {
                        "x": 2210.50439453125,
                        "y": 2524.2880859375,
                        "z": 365.77301025390625
                    },
                    "rotation": {
                        "roll": -0.007202147971838713,
                        "pitch": -1.5363075733184814,
                        "yaw": -179.8497314453125
                    }
                },
                "velocity": {
                    "x": -5.7093500799965113e-05,
                    "y": -0.0001352450344711542,
                    "z": 0.0013998049544170499
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0003668376011773944,
                "transform": {
                    "location": {
                        "x": 2150.43603515625,
                        "y": 2527.3642578125,
                        "z": 364.7389831542969
                    },
                    "rotation": {
                        "roll": 0.0013212200719863176,
                        "pitch": -0.2769778072834015,
                        "yaw": -0.32534781098365784
                    }
                },
                "velocity": {
                    "x": -0.00018558687588665634,
                    "y": -2.6606498977344017e-06,
                    "z": 0.00031641783425584435
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": 0.9998123049736023,
        "expert_target_speed": 3.6462224082575836,
        "target_point": [
            6.107639825562588,
            7.137738733259949
        ],
        "target_point_next": [
            11.411837953369696,
            34.63081545003229
        ]
    },
    "410": {
        "acceleration": [
            0.26950597763061523,
            -2.552194595336914,
            0.05410749465227127
        ],
        "angular_velocity": [
            -0.9984592199325562,
            -1.5223114490509033,
            15.208641052246094
        ],
        "forward_vector": [
            -0.25354066491127014,
            0.9672819972038269,
            -0.009093515574932098
        ],
        "right_vector": [
            -0.9673176407814026,
            -0.25349149107933044,
            0.006223510019481182
        ],
        "location": [
            2184.095947265625,
            2520.419677734375,
            365.1309814453125
        ],
        "rotation": [
            -0.356597900390625,
            -0.5210272669792175,
            104.68775177001953
        ],
        "velocity": [
            -0.9889358282089233,
            2.1753756999969482,
            -0.016590232029557228
        ],
        "speed": 2.3896136734737023,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 13.218647003173828,
        "front_vehicle_info": {
            "id": 48775,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2172.824462890625,
                2527.32177734375,
                364.9134826660156
            ],
            "velocity": [
                3.787421703338623,
                -0.00782883819192648,
                0.06999974697828293
            ],
            "speed_kmh": 13.63707580121543,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 48787,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 2236.935546875,
                        "y": 2524.330322265625,
                        "z": 366.9498291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.7185369729995728,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 4.004349907216209e-10,
                    "y": -8.802933425602899e-13,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.6405182480812073,
                "transform": {
                    "location": {
                        "x": 2185.073974609375,
                        "y": 2454.553955078125,
                        "z": 364.71392822265625
                    },
                    "rotation": {
                        "roll": 0.0016200341051444411,
                        "pitch": 0.4593711793422699,
                        "yaw": 90.07518005371094
                    }
                },
                "velocity": {
                    "x": 0.0005848205182701349,
                    "y": 0.6404838562011719,
                    "z": 0.006612252909690142
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.8761380910873413,
                "transform": {
                    "location": {
                        "x": 2221.82373046875,
                        "y": 2524.270751953125,
                        "z": 366.0990295410156
                    },
                    "rotation": {
                        "roll": -0.01577758975327015,
                        "pitch": -1.9086620807647705,
                        "yaw": -179.65634155273438
                    }
                },
                "velocity": {
                    "x": -0.8757107257843018,
                    "y": 0.0035228405613452196,
                    "z": -0.02713613398373127
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48786,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.5618226528167725,
                "transform": {
                    "location": {
                        "x": 2187.780517578125,
                        "y": 2576.0791015625,
                        "z": 365.04779052734375
                    },
                    "rotation": {
                        "roll": -0.0035705554764717817,
                        "pitch": 0.5325566530227661,
                        "yaw": -89.79409790039062
                    }
                },
                "velocity": {
                    "x": 0.022778822109103203,
                    "y": -1.5611845254898071,
                    "z": 0.038395851850509644
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.7851022481918335,
                "transform": {
                    "location": {
                        "x": 2160.937744140625,
                        "y": 2527.347412109375,
                        "z": 364.79339599609375
                    },
                    "rotation": {
                        "roll": -0.0009765623253770173,
                        "pitch": 0.4051326513290405,
                        "yaw": -0.22439570724964142
                    }
                },
                "velocity": {
                    "x": 1.7850325107574463,
                    "y": -0.004078515339642763,
                    "z": 0.015247316099703312
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.44514700770378113,
                "transform": {
                    "location": {
                        "x": 2185.031005859375,
                        "y": 2478.583740234375,
                        "z": 364.93994140625
                    },
                    "rotation": {
                        "roll": -0.0028686888981610537,
                        "pitch": 0.5157270431518555,
                        "yaw": 89.81678771972656
                    }
                },
                "velocity": {
                    "x": -0.0011121060233563185,
                    "y": 0.4451310336589813,
                    "z": 0.003601941978558898
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48775,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.788076639175415,
                "transform": {
                    "location": {
                        "x": 2172.824462890625,
                        "y": 2527.32177734375,
                        "z": 364.9134826660156
                    },
                    "rotation": {
                        "roll": -0.0021667478140443563,
                        "pitch": 1.5534923076629639,
                        "yaw": -0.139434814453125
                    }
                },
                "velocity": {
                    "x": 3.787421703338623,
                    "y": -0.00782883819192648,
                    "z": 0.06999974697828293
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00026069890009239316,
                "transform": {
                    "location": {
                        "x": 2200.4296875,
                        "y": 2524.310302734375,
                        "z": 365.5064697265625
                    },
                    "rotation": {
                        "roll": 0.0017007970018312335,
                        "pitch": -1.4165948629379272,
                        "yaw": 179.79397583007812
                    }
                },
                "velocity": {
                    "x": -3.455311161815189e-05,
                    "y": 1.4956484847061802e-05,
                    "z": -0.0002579657011665404
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.852867603302002,
                "transform": {
                    "location": {
                        "x": 2187.9111328125,
                        "y": 2543.697265625,
                        "z": 365.17181396484375
                    },
                    "rotation": {
                        "roll": 0.006047375965863466,
                        "pitch": -0.38650673627853394,
                        "yaw": -90.24100494384766
                    }
                },
                "velocity": {
                    "x": 0.0017794090090319514,
                    "y": -2.8528664112091064,
                    "z": 0.0019300555577501655
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.4393256902694702,
                "transform": {
                    "location": {
                        "x": 2185.04736328125,
                        "y": 2468.32958984375,
                        "z": 364.8392639160156
                    },
                    "rotation": {
                        "roll": 0.0032329580280929804,
                        "pitch": 0.5414427518844604,
                        "yaw": 90.50057220458984
                    }
                },
                "velocity": {
                    "x": -0.003232100047171116,
                    "y": 1.439260482788086,
                    "z": 0.013317689299583435
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.830589023185894e-05,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.0028314024675637484,
                        "pitch": 0.21765762567520142,
                        "yaw": -179.82435607910156
                    }
                },
                "velocity": {
                    "x": 8.820965376798995e-06,
                    "y": 1.798037556000054e-05,
                    "z": 4.395856740302406e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.000775597058236599,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0005227065412327647,
                        "pitch": 0.21963155269622803,
                        "yaw": 179.874755859375
                    }
                },
                "velocity": {
                    "x": 9.168199539999478e-06,
                    "y": -7.058562914608046e-05,
                    "z": -0.0007723240414634347
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.6089676022529602,
                "transform": {
                    "location": {
                        "x": 2187.89111328125,
                        "y": 2557.252685546875,
                        "z": 365.14117431640625
                    },
                    "rotation": {
                        "roll": -0.0018310487503185868,
                        "pitch": -0.612613320350647,
                        "yaw": -89.75605010986328
                    }
                },
                "velocity": {
                    "x": -0.0026441807858645916,
                    "y": -0.6089611053466797,
                    "z": 0.0009468746138736606
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.0093557834625244,
                "transform": {
                    "location": {
                        "x": 2185.017822265625,
                        "y": 2491.5546875,
                        "z": 365.02960205078125
                    },
                    "rotation": {
                        "roll": 1.3340554438912022e-08,
                        "pitch": 0.41013917326927185,
                        "yaw": 90.09996795654297
                    }
                },
                "velocity": {
                    "x": -0.003590971464291215,
                    "y": 3.0092952251434326,
                    "z": 0.01872122660279274
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.7591300010681152,
                "transform": {
                    "location": {
                        "x": 2185.00927734375,
                        "y": 2501.85986328125,
                        "z": 365.08941650390625
                    },
                    "rotation": {
                        "roll": 0.0006935237324796617,
                        "pitch": 0.2396986484527588,
                        "yaw": 90.1220703125
                    }
                },
                "velocity": {
                    "x": -0.004321220330893993,
                    "y": 2.7590935230255127,
                    "z": 0.013531799428164959
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.001812223345041275,
                "transform": {
                    "location": {
                        "x": 2210.50439453125,
                        "y": 2524.2880859375,
                        "z": 365.77301025390625
                    },
                    "rotation": {
                        "roll": -0.007202147971838713,
                        "pitch": -1.5363075733184814,
                        "yaw": -179.8497314453125
                    }
                },
                "velocity": {
                    "x": -0.0001353311527054757,
                    "y": -4.4105156121077016e-05,
                    "z": 0.0018066249322146177
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.9638856053352356,
                "transform": {
                    "location": {
                        "x": 2150.54296875,
                        "y": 2527.3642578125,
                        "z": 364.7379150390625
                    },
                    "rotation": {
                        "roll": 0.0011945893056690693,
                        "pitch": -0.18524155020713806,
                        "yaw": -0.3387451171875
                    }
                },
                "velocity": {
                    "x": 0.9638829827308655,
                    "y": -0.000609104463364929,
                    "z": -0.0021531772799789906
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": 0.9991083145141602,
        "expert_target_speed": 3.1124908878862527,
        "target_point": [
            5.922170224907415,
            6.64249221951529
        ],
        "target_point_next": [
            13.081116412843002,
            33.71190807231131
        ]
    },
    "415": {
        "acceleration": [
            0.08954048156738281,
            -2.0673155784606934,
            0.0025508739054203033
        ],
        "angular_velocity": [
            -0.37841400504112244,
            -0.7463372349739075,
            14.969661712646484
        ],
        "forward_vector": [
            -0.31748202443122864,
            0.9481723308563232,
            -0.013206098228693008
        ],
        "right_vector": [
            -0.948262095451355,
            -0.317480206489563,
            0.0022895841393619776
        ],
        "location": [
            2183.869384765625,
            2520.88818359375,
            365.12847900390625
        ],
        "rotation": [
            -0.131195068359375,
            -0.756675660610199,
            108.51239013671875
        ],
        "velocity": [
            -0.9432775378227234,
            1.5982606410980225,
            -0.012778358533978462
        ],
        "speed": 1.8558581816087028,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 12.096918106079102,
        "front_vehicle_info": {
            "id": 48775,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2173.64892578125,
                2527.3564453125,
                364.930419921875
            ],
            "velocity": [
                2.997980833053589,
                0.184839129447937,
                0.05617130175232887
            ],
            "speed_kmh": 10.815115299143566,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 48787,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.20331609249115,
                "transform": {
                    "location": {
                        "x": 2236.9375,
                        "y": 2524.330322265625,
                        "z": 366.55810546875
                    },
                    "rotation": {
                        "roll": 0.000504194526001811,
                        "pitch": -1.7543271780014038,
                        "yaw": 179.87429809570312
                    }
                },
                "velocity": {
                    "x": 0.03574191406369209,
                    "y": 7.18211304047145e-05,
                    "z": -1.2027851343154907
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.9818050861358643,
                "transform": {
                    "location": {
                        "x": 2185.072998046875,
                        "y": 2454.89208984375,
                        "z": 364.7176818847656
                    },
                    "rotation": {
                        "roll": 0.00016794264956843108,
                        "pitch": 0.7920218706130981,
                        "yaw": 90.12569427490234
                    }
                },
                "velocity": {
                    "x": -0.006310058292001486,
                    "y": 1.9816808700561523,
                    "z": 0.021268662065267563
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.7820488214492798,
                "transform": {
                    "location": {
                        "x": 2221.74560546875,
                        "y": 2524.27099609375,
                        "z": 366.09661865234375
                    },
                    "rotation": {
                        "roll": -0.01586914248764515,
                        "pitch": -1.8460360765457153,
                        "yaw": -179.72006225585938
                    }
                },
                "velocity": {
                    "x": -0.7816991209983826,
                    "y": 0.0005567868356592953,
                    "z": -0.02337896265089512
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48786,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.7188162803649902,
                "transform": {
                    "location": {
                        "x": 2187.784912109375,
                        "y": 2575.55224609375,
                        "z": 365.05419921875
                    },
                    "rotation": {
                        "roll": 0.0005060165422037244,
                        "pitch": 0.5379183292388916,
                        "yaw": -89.6872787475586
                    }
                },
                "velocity": {
                    "x": 0.02408945932984352,
                    "y": -2.7186288833618164,
                    "z": 0.020949801430106163
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.8322784900665283,
                "transform": {
                    "location": {
                        "x": 2161.51025390625,
                        "y": 2527.34619140625,
                        "z": 364.7976379394531
                    },
                    "rotation": {
                        "roll": -0.001007080078125,
                        "pitch": 0.503944993019104,
                        "yaw": -0.2065124660730362
                    }
                },
                "velocity": {
                    "x": 2.8321611881256104,
                    "y": -0.006447731517255306,
                    "z": 0.024944094941020012
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.0817548036575317,
                "transform": {
                    "location": {
                        "x": 2185.03125,
                        "y": 2478.76123046875,
                        "z": 364.94073486328125
                    },
                    "rotation": {
                        "roll": -0.0026855573523789644,
                        "pitch": 0.5969585180282593,
                        "yaw": 89.85863494873047
                    }
                },
                "velocity": {
                    "x": -0.0005091535858809948,
                    "y": 1.0817267894744873,
                    "z": 0.007770375814288855
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48775,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.0041985511779785,
                "transform": {
                    "location": {
                        "x": 2173.64892578125,
                        "y": 2527.3564453125,
                        "z": 364.930419921875
                    },
                    "rotation": {
                        "roll": -0.1228027269244194,
                        "pitch": 1.1108413934707642,
                        "yaw": 1.1455368995666504
                    }
                },
                "velocity": {
                    "x": 2.997980833053589,
                    "y": 0.184839129447937,
                    "z": 0.05617130175232887
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0002192987740272656,
                "transform": {
                    "location": {
                        "x": 2200.4296875,
                        "y": 2524.310302734375,
                        "z": 365.5064697265625
                    },
                    "rotation": {
                        "roll": 0.0017007970018312335,
                        "pitch": -1.4165948629379272,
                        "yaw": 179.79397583007812
                    }
                },
                "velocity": {
                    "x": -3.586485763662495e-05,
                    "y": -1.2730200069199782e-05,
                    "z": -0.00021597131853923202
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.6416826248168945,
                "transform": {
                    "location": {
                        "x": 2187.91015625,
                        "y": 2542.728515625,
                        "z": 365.1661376953125
                    },
                    "rotation": {
                        "roll": -0.003753671422600746,
                        "pitch": 0.3801136612892151,
                        "yaw": -90.1312255859375
                    }
                },
                "velocity": {
                    "x": 0.002875542500987649,
                    "y": -4.641681671142578,
                    "z": 0.0015422248980030417
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0017335412558168173,
                "transform": {
                    "location": {
                        "x": 2185.04443359375,
                        "y": 2468.6640625,
                        "z": 364.8428955078125
                    },
                    "rotation": {
                        "roll": 0.0002933198120445013,
                        "pitch": 0.43735066056251526,
                        "yaw": 90.17964935302734
                    }
                },
                "velocity": {
                    "x": 4.378470839583315e-05,
                    "y": 0.0002649032976478338,
                    "z": -0.001712622120976448
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.520525105064735e-05,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.78143310546875
                    },
                    "rotation": {
                        "roll": 0.0027659914921969175,
                        "pitch": 0.21785570681095123,
                        "yaw": -179.82435607910156
                    }
                },
                "velocity": {
                    "x": 3.946051037928555e-06,
                    "y": -1.791922295524273e-05,
                    "z": -7.293256931006908e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00010467678657732904,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0010407698573544621,
                        "pitch": 0.21968619525432587,
                        "yaw": 179.8748321533203
                    }
                },
                "velocity": {
                    "x": 1.0760798431874719e-05,
                    "y": 9.639459676691331e-06,
                    "z": 0.0001036750472849235
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.1315205097198486,
                "transform": {
                    "location": {
                        "x": 2187.891845703125,
                        "y": 2556.970703125,
                        "z": 365.1422119140625
                    },
                    "rotation": {
                        "roll": -0.0009765600552782416,
                        "pitch": 0.14439702033996582,
                        "yaw": -89.8066177368164
                    }
                },
                "velocity": {
                    "x": 0.003911771345883608,
                    "y": -2.131507158279419,
                    "z": 0.006463260389864445
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7917755842208862,
                "transform": {
                    "location": {
                        "x": 2185.01708984375,
                        "y": 2492.14990234375,
                        "z": 365.0328369140625
                    },
                    "rotation": {
                        "roll": 0.0005368813872337341,
                        "pitch": 0.46749910712242126,
                        "yaw": 90.10083770751953
                    }
                },
                "velocity": {
                    "x": -0.0023296112194657326,
                    "y": 1.7917346954345703,
                    "z": 0.011883916333317757
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.161494255065918,
                "transform": {
                    "location": {
                        "x": 2185.009033203125,
                        "y": 2502.46826171875,
                        "z": 365.0917053222656
                    },
                    "rotation": {
                        "roll": -0.0007934359018690884,
                        "pitch": 0.33316296339035034,
                        "yaw": 90.111572265625
                    }
                },
                "velocity": {
                    "x": -0.0034910719841718674,
                    "y": 2.16145920753479,
                    "z": 0.011804981157183647
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0010195833165198565,
                "transform": {
                    "location": {
                        "x": 2210.50439453125,
                        "y": 2524.2880859375,
                        "z": 365.77301025390625
                    },
                    "rotation": {
                        "roll": -0.007659910712391138,
                        "pitch": -1.5363689661026,
                        "yaw": -179.84994506835938
                    }
                },
                "velocity": {
                    "x": -8.376747427973896e-05,
                    "y": -3.5137682061758824e-06,
                    "z": 0.0010161303216591477
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.1144914627075195,
                "transform": {
                    "location": {
                        "x": 2150.823486328125,
                        "y": 2527.3671875,
                        "z": 364.73736572265625
                    },
                    "rotation": {
                        "roll": 0.0012900085421279073,
                        "pitch": -0.19768615067005157,
                        "yaw": -0.4639892280101776
                    }
                },
                "velocity": {
                    "x": 1.1144472360610962,
                    "y": 0.009492922574281693,
                    "z": -0.0029391192365437746
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": 0.9987853765487671,
        "expert_target_speed": 2.5854459515149264,
        "target_point": [
            5.835856812374083,
            6.166587565111143
        ],
        "target_point_next": [
            14.784473279322295,
            32.69819227460478
        ]
    },
    "420": {
        "acceleration": [
            0.7057547569274902,
            -1.146998405456543,
            0.01476287841796875
        ],
        "angular_velocity": [
            0.11790867149829865,
            -0.9125524163246155,
            11.920389175415039
        ],
        "forward_vector": [
            -0.3718271255493164,
            0.9281795620918274,
            -0.015078211203217506
        ],
        "right_vector": [
            -0.9282814264297485,
            -0.3718779385089874,
            -0.0006153821013867855
        ],
        "location": [
            2183.6630859375,
            2521.230224609375,
            365.1263732910156
        ],
        "rotation": [
            0.035262808203697205,
            -0.8639506101608276,
            111.8309555053711
        ],
        "velocity": [
            -0.8211081027984619,
            1.1681886911392212,
            -0.009330091066658497
        ],
        "speed": 1.4278947211145703,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 11.103883743286133,
        "front_vehicle_info": {
            "id": 48775,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2174.4345703125,
                2527.402587890625,
                364.9456481933594
            ],
            "velocity": [
                3.3044536113739014,
                0.2215287983417511,
                0.06585472077131271
            ],
            "speed_kmh": 11.92509198166377,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 48788,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": 2135.974853515625,
                        "y": 2527.302490234375,
                        "z": 365.1510925292969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2181084156036377,
                        "yaw": -0.125946044921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48787,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.15156866610050201,
                "transform": {
                    "location": {
                        "x": 2236.9384765625,
                        "y": 2524.330322265625,
                        "z": 366.5338134765625
                    },
                    "rotation": {
                        "roll": 0.00017560215201228857,
                        "pitch": -1.7670859098434448,
                        "yaw": 179.87417602539062
                    }
                },
                "velocity": {
                    "x": -0.004632947035133839,
                    "y": 0.00023828762641642243,
                    "z": 0.15149766206741333
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.450526237487793,
                "transform": {
                    "location": {
                        "x": 2185.07080078125,
                        "y": 2455.57177734375,
                        "z": 364.72491455078125
                    },
                    "rotation": {
                        "roll": -0.0010375940473750234,
                        "pitch": 0.892070472240448,
                        "yaw": 90.12345886230469
                    }
                },
                "velocity": {
                    "x": -0.011655982583761215,
                    "y": 3.45031476020813,
                    "z": 0.0363873653113842
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.075726270675659,
                "transform": {
                    "location": {
                        "x": 2221.380126953125,
                        "y": 2524.27099609375,
                        "z": 366.0856018066406
                    },
                    "rotation": {
                        "roll": -0.00567626953125,
                        "pitch": -1.571530818939209,
                        "yaw": -179.8358612060547
                    }
                },
                "velocity": {
                    "x": -2.0748255252838135,
                    "y": 0.0008652891847305,
                    "z": -0.061133965849876404
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48786,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.315907955169678,
                "transform": {
                    "location": {
                        "x": 2187.79345703125,
                        "y": 2574.659423828125,
                        "z": 365.0604248046875
                    },
                    "rotation": {
                        "roll": -0.0009460565051995218,
                        "pitch": 0.5815564393997192,
                        "yaw": -89.56348419189453
                    }
                },
                "velocity": {
                    "x": 0.041526611894369125,
                    "y": -4.315631866455078,
                    "z": 0.025703296065330505
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.226280689239502,
                "transform": {
                    "location": {
                        "x": 2162.4033203125,
                        "y": 2527.343994140625,
                        "z": 364.8044738769531
                    },
                    "rotation": {
                        "roll": 0.0002791570732370019,
                        "pitch": 0.6473448276519775,
                        "yaw": -0.1755370944738388
                    }
                },
                "velocity": {
                    "x": 4.226101398468018,
                    "y": -0.009402604773640633,
                    "z": 0.0377858430147171
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.318580150604248,
                "transform": {
                    "location": {
                        "x": 2185.03173828125,
                        "y": 2479.193359375,
                        "z": 364.94293212890625
                    },
                    "rotation": {
                        "roll": -0.0040588174015283585,
                        "pitch": 0.7246625423431396,
                        "yaw": 89.90589141845703
                    }
                },
                "velocity": {
                    "x": -0.0021562110632658005,
                    "y": 2.3185155391693115,
                    "z": 0.017156438902020454
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48775,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.312525510787964,
                "transform": {
                    "location": {
                        "x": 2174.4345703125,
                        "y": 2527.402587890625,
                        "z": 364.9456481933594
                    },
                    "rotation": {
                        "roll": -0.0359802283346653,
                        "pitch": 1.1967241764068604,
                        "yaw": 2.1606218814849854
                    }
                },
                "velocity": {
                    "x": 3.3044536113739014,
                    "y": 0.2215287983417511,
                    "z": 0.06585472077131271
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2200.4296875,
                        "y": 2524.310302734375,
                        "z": 365.5064697265625
                    },
                    "rotation": {
                        "roll": 0.0017007970018312335,
                        "pitch": -1.4165948629379272,
                        "yaw": 179.79397583007812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.719088554382324,
                "transform": {
                    "location": {
                        "x": 2187.9111328125,
                        "y": 2541.67041015625,
                        "z": 365.1689453125
                    },
                    "rotation": {
                        "roll": -0.0017395021859556437,
                        "pitch": 0.0280857365578413,
                        "yaw": -90.04497528076172
                    }
                },
                "velocity": {
                    "x": 0.0043916585855185986,
                    "y": -3.719085931777954,
                    "z": -8.933067147154361e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.0565038919448853,
                "transform": {
                    "location": {
                        "x": 2185.0439453125,
                        "y": 2468.7763671875,
                        "z": 364.8431091308594
                    },
                    "rotation": {
                        "roll": 0.0007288362830877304,
                        "pitch": 0.5520568490028381,
                        "yaw": 90.15177154541016
                    }
                },
                "velocity": {
                    "x": -0.0033525750041007996,
                    "y": 1.0564005374908447,
                    "z": 0.014398221857845783
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00029589448240585625,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.0028355149552226067,
                        "pitch": 0.217725932598114,
                        "yaw": -179.82435607910156
                    }
                },
                "velocity": {
                    "x": 4.89495687361341e-06,
                    "y": -4.076397817698307e-05,
                    "z": -0.0002930322370957583
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0003427241463214159,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0010407698573544621,
                        "pitch": 0.21968619525432587,
                        "yaw": 179.8748321533203
                    }
                },
                "velocity": {
                    "x": 7.577165888505988e-06,
                    "y": -7.915107744338457e-06,
                    "z": 0.00034254894126206636
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.689995765686035,
                "transform": {
                    "location": {
                        "x": 2187.893798828125,
                        "y": 2556.237060546875,
                        "z": 365.144287109375
                    },
                    "rotation": {
                        "roll": 0.0007874803268350661,
                        "pitch": 0.4175977408885956,
                        "yaw": -89.85301971435547
                    }
                },
                "velocity": {
                    "x": 0.008317633531987667,
                    "y": -3.689972162246704,
                    "z": 0.010253638960421085
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.7906494140625,
                "transform": {
                    "location": {
                        "x": 2185.017333984375,
                        "y": 2492.283935546875,
                        "z": 365.0340270996094
                    },
                    "rotation": {
                        "roll": -3.05099347315263e-05,
                        "pitch": 0.43312275409698486,
                        "yaw": 90.17230224609375
                    }
                },
                "velocity": {
                    "x": 7.845510845072567e-05,
                    "y": 0.7906394600868225,
                    "z": 0.0039745233952999115
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.92349374294281,
                "transform": {
                    "location": {
                        "x": 2185.0087890625,
                        "y": 2502.995361328125,
                        "z": 365.0945129394531
                    },
                    "rotation": {
                        "roll": -6.1032424127915874e-05,
                        "pitch": 0.3198782205581665,
                        "yaw": 90.1068115234375
                    }
                },
                "velocity": {
                    "x": -0.0036256639286875725,
                    "y": 1.9234659671783447,
                    "z": 0.009682388044893742
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.001348513294942677,
                "transform": {
                    "location": {
                        "x": 2210.50439453125,
                        "y": 2524.2880859375,
                        "z": 365.77301025390625
                    },
                    "rotation": {
                        "roll": -0.007659910712391138,
                        "pitch": -1.5363689661026,
                        "yaw": -179.84994506835938
                    }
                },
                "velocity": {
                    "x": -0.00012301384413149208,
                    "y": -5.8036701375385746e-05,
                    "z": 0.0013416360598057508
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.9756982326507568,
                "transform": {
                    "location": {
                        "x": 2151.171875,
                        "y": 2527.36962890625,
                        "z": 364.7362365722656
                    },
                    "rotation": {
                        "roll": 0.00022798616555519402,
                        "pitch": -0.13952027261257172,
                        "yaw": -0.61492919921875
                    }
                },
                "velocity": {
                    "x": 1.9756951332092285,
                    "y": -0.0005220318562351167,
                    "z": -0.003442783374339342
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": 0.9987937808036804,
        "expert_target_speed": 2.1579039362489993,
        "target_point": [
            5.788813229172894,
            5.754112304668368
        ],
        "target_point_next": [
            16.25828094221248,
            31.723209919698878
        ]
    },
    "425": {
        "acceleration": [
            -0.5579006671905518,
            -0.28708457946777344,
            0.016396325081586838
        ],
        "angular_velocity": [
            0.15890836715698242,
            0.10951130092144012,
            11.649068832397461
        ],
        "forward_vector": [
            -0.41838186979293823,
            0.90814608335495,
            -0.015078211203217506
        ],
        "right_vector": [
            -0.908232569694519,
            -0.41845953464508057,
            -0.0022784078028053045
        ],
        "location": [
            2183.471923828125,
            2521.501220703125,
            365.12420654296875
        ],
        "rotation": [
            0.1305580884218216,
            -0.8639506101608276,
            114.73546600341797
        ],
        "velocity": [
            -0.8226592540740967,
            1.0143803358078003,
            -0.009678678587079048
        ],
        "speed": 1.306038174781769,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 10.204163551330566,
        "front_vehicle_info": {
            "id": 48775,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2175.18359375,
                2527.451171875,
                364.9610900878906
            ],
            "velocity": [
                2.791459083557129,
                0.19626040756702423,
                0.055733706802129745
            ],
            "speed_kmh": 10.076057363194371,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 48788,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.6079382300376892,
                "transform": {
                    "location": {
                        "x": 2135.974365234375,
                        "y": 2527.302490234375,
                        "z": 364.7472839355469
                    },
                    "rotation": {
                        "roll": 0.0005341266514733434,
                        "pitch": -0.21823136508464813,
                        "yaw": -0.125946044921875
                    }
                },
                "velocity": {
                    "x": -0.0023023090325295925,
                    "y": -6.411881622625515e-05,
                    "z": -0.6079338788986206
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48787,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.3833063840866089,
                "transform": {
                    "location": {
                        "x": 2236.788818359375,
                        "y": 2524.328369140625,
                        "z": 366.5519714355469
                    },
                    "rotation": {
                        "roll": -0.009948726743459702,
                        "pitch": -1.5962151288986206,
                        "yaw": 179.98867797851562
                    }
                },
                "velocity": {
                    "x": -1.3832169771194458,
                    "y": -0.0156893078237772,
                    "z": -0.0011396026238799095
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.897807598114014,
                "transform": {
                    "location": {
                        "x": 2185.067138671875,
                        "y": 2456.62646484375,
                        "z": 364.7360534667969
                    },
                    "rotation": {
                        "roll": 0.0016877513844519854,
                        "pitch": 0.9134899377822876,
                        "yaw": 90.15924072265625
                    }
                },
                "velocity": {
                    "x": -0.013702337630093098,
                    "y": 4.897510528564453,
                    "z": 0.052179086953401566
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.8857498168945312,
                "transform": {
                    "location": {
                        "x": 2220.859130859375,
                        "y": 2524.27099609375,
                        "z": 366.0701599121094
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": -1.8309004306793213,
                        "yaw": 179.95123291015625
                    }
                },
                "velocity": {
                    "x": -0.8853440880775452,
                    "y": -0.002931298455223441,
                    "z": -0.026644982397556305
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48786,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.408426761627197,
                "transform": {
                    "location": {
                        "x": 2187.80615234375,
                        "y": 2573.411865234375,
                        "z": 365.068115234375
                    },
                    "rotation": {
                        "roll": 0.00159065006300807,
                        "pitch": 0.5366820693016052,
                        "yaw": -89.47539520263672
                    }
                },
                "velocity": {
                    "x": 0.05534471571445465,
                    "y": -5.408048629760742,
                    "z": 0.03199327364563942
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.302933692932129,
                "transform": {
                    "location": {
                        "x": 2163.541748046875,
                        "y": 2527.34130859375,
                        "z": 364.81439208984375
                    },
                    "rotation": {
                        "roll": -0.00030517578125,
                        "pitch": 0.6875746250152588,
                        "yaw": -0.1505126804113388
                    }
                },
                "velocity": {
                    "x": 4.3027262687683105,
                    "y": -0.009184680879116058,
                    "z": 0.041255492717027664
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.223750114440918,
                "transform": {
                    "location": {
                        "x": 2185.031494140625,
                        "y": 2480.01123046875,
                        "z": 364.9478454589844
                    },
                    "rotation": {
                        "roll": -0.004608125425875187,
                        "pitch": 0.8629328608512878,
                        "yaw": 89.96483612060547
                    }
                },
                "velocity": {
                    "x": -0.00496005779132247,
                    "y": 4.223629474639893,
                    "z": 0.0315391831099987
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48775,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.7989048957824707,
                "transform": {
                    "location": {
                        "x": 2175.18359375,
                        "y": 2527.451171875,
                        "z": 364.9610900878906
                    },
                    "rotation": {
                        "roll": 0.028203841298818588,
                        "pitch": 1.0524705648422241,
                        "yaw": 2.839745283126831
                    }
                },
                "velocity": {
                    "x": 2.791459083557129,
                    "y": 0.19626040756702423,
                    "z": 0.055733706802129745
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0007440017070621252,
                "transform": {
                    "location": {
                        "x": 2200.4296875,
                        "y": 2524.310302734375,
                        "z": 365.5064697265625
                    },
                    "rotation": {
                        "roll": 0.0017007970018312335,
                        "pitch": -1.4165948629379272,
                        "yaw": 179.79397583007812
                    }
                },
                "velocity": {
                    "x": -2.5492012355243787e-05,
                    "y": -7.624346380907809e-06,
                    "z": -0.0007435257430188358
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.429198980331421,
                "transform": {
                    "location": {
                        "x": 2187.908935546875,
                        "y": 2540.8134765625,
                        "z": 365.1707458496094
                    },
                    "rotation": {
                        "roll": 0.04473733901977539,
                        "pitch": -0.20141543447971344,
                        "yaw": -90.11785888671875
                    }
                },
                "velocity": {
                    "x": -0.12579602003097534,
                    "y": -3.4268903732299805,
                    "z": -0.0019514845917001367
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.461863398551941,
                "transform": {
                    "location": {
                        "x": 2185.0439453125,
                        "y": 2469.06591796875,
                        "z": 364.8458251953125
                    },
                    "rotation": {
                        "roll": 0.0006426544860005379,
                        "pitch": 0.5514147877693176,
                        "yaw": 90.12852478027344
                    }
                },
                "velocity": {
                    "x": -0.002574282931163907,
                    "y": 1.4618099927902222,
                    "z": 0.01221295353025198
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00044043638627044857,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.0028355149552226067,
                        "pitch": 0.217725932598114,
                        "yaw": -179.82435607910156
                    }
                },
                "velocity": {
                    "x": 6.744116490153829e-06,
                    "y": 6.314646157079551e-07,
                    "z": -0.000440384290413931
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00021417914831545204,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0010407698573544621,
                        "pitch": 0.21968619525432587,
                        "yaw": 179.8748321533203
                    }
                },
                "velocity": {
                    "x": 3.161024142173119e-05,
                    "y": -4.4245556637179106e-05,
                    "z": -0.0002071613707812503
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.1277384757995605,
                "transform": {
                    "location": {
                        "x": 2187.8955078125,
                        "y": 2555.124755859375,
                        "z": 365.14752197265625
                    },
                    "rotation": {
                        "roll": -0.0008850155281834304,
                        "pitch": 0.43731650710105896,
                        "yaw": -89.8775634765625
                    }
                },
                "velocity": {
                    "x": 0.008590834215283394,
                    "y": -5.127693176269531,
                    "z": 0.01973678544163704
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.6789464950561523,
                "transform": {
                    "location": {
                        "x": 2185.017333984375,
                        "y": 2492.595458984375,
                        "z": 365.0371398925781
                    },
                    "rotation": {
                        "roll": 0.0007308658096008003,
                        "pitch": 0.28299522399902344,
                        "yaw": 90.16764831542969
                    }
                },
                "velocity": {
                    "x": -0.0021828962489962578,
                    "y": 1.6789143085479736,
                    "z": 0.010172748006880283
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.5842068195343018,
                "transform": {
                    "location": {
                        "x": 2185.0087890625,
                        "y": 2503.415771484375,
                        "z": 365.0965881347656
                    },
                    "rotation": {
                        "roll": -0.00036620828905142844,
                        "pitch": 0.33148956298828125,
                        "yaw": 90.09783935546875
                    }
                },
                "velocity": {
                    "x": -0.002675829455256462,
                    "y": 1.5841737985610962,
                    "z": 0.009875373914837837
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0015216569881886244,
                "transform": {
                    "location": {
                        "x": 2210.50439453125,
                        "y": 2524.2880859375,
                        "z": 365.77301025390625
                    },
                    "rotation": {
                        "roll": -0.007659910712391138,
                        "pitch": -1.5363689661026,
                        "yaw": -179.84994506835938
                    }
                },
                "velocity": {
                    "x": -0.00012014507956337184,
                    "y": -5.7366130931768566e-05,
                    "z": 0.0015158213209360838
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.7054488658905029,
                "transform": {
                    "location": {
                        "x": 2151.50537109375,
                        "y": 2527.377197265625,
                        "z": 364.7362060546875
                    },
                    "rotation": {
                        "roll": 0.008795392699539661,
                        "pitch": -0.25021713972091675,
                        "yaw": -1.417449951171875
                    }
                },
                "velocity": {
                    "x": 0.7054432034492493,
                    "y": -0.0021380488760769367,
                    "z": -0.001844444195739925
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": 1.00107741355896,
        "expert_target_speed": 2.013687187310448,
        "target_point": [
            5.746826731629801,
            5.393162205238998
        ],
        "target_point_next": [
            17.51873986496654,
            30.798394861417048
        ]
    },
    "430": {
        "acceleration": [
            -0.6094443798065186,
            0.5327916145324707,
            -0.021077357232570648
        ],
        "angular_velocity": [
            0.23115547001361847,
            0.671798050403595,
            13.516162872314453
        ],
        "forward_vector": [
            -0.46683549880981445,
            0.8842443823814392,
            -0.013283457607030869
        ],
        "right_vector": [
            -0.88431316614151,
            -0.46689221262931824,
            -0.0013598146615549922
        ],
        "location": [
            2183.25341796875,
            2521.775146484375,
            365.12042236328125
        ],
        "rotation": [
            0.07791854441165924,
            -0.7611083984375,
            117.83174133300781
        ],
        "velocity": [
            -1.0219472646713257,
            1.146255373954773,
            -0.018693752586841583
        ],
        "speed": 1.5356684518767068,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.312257766723633,
        "front_vehicle_info": {
            "id": 48775,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2175.9111328125,
                2527.501220703125,
                364.9753112792969
            ],
            "velocity": [
                2.8881852626800537,
                0.21015481650829315,
                0.05775613710284233
            ],
            "speed_kmh": 10.427028794948567,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 48788,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.2272680699825287,
                "transform": {
                    "location": {
                        "x": 2135.974365234375,
                        "y": 2527.302490234375,
                        "z": 364.7689514160156
                    },
                    "rotation": {
                        "roll": 0.0006394763477146626,
                        "pitch": -0.2181698977947235,
                        "yaw": -0.125946044921875
                    }
                },
                "velocity": {
                    "x": 0.0008708856767043471,
                    "y": -7.19201398169389e-06,
                    "z": 0.22726640105247498
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48787,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.603703737258911,
                "transform": {
                    "location": {
                        "x": 2236.286376953125,
                        "y": 2524.3251953125,
                        "z": 366.5412292480469
                    },
                    "rotation": {
                        "roll": -0.004791260231286287,
                        "pitch": -1.570062279701233,
                        "yaw": -179.95460510253906
                    }
                },
                "velocity": {
                    "x": -2.602644681930542,
                    "y": -0.012390217743813992,
                    "z": -0.07321031391620636
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.8787623643875122,
                "transform": {
                    "location": {
                        "x": 2185.0634765625,
                        "y": 2457.694580078125,
                        "z": 364.74713134765625
                    },
                    "rotation": {
                        "roll": 0.0021919850260019302,
                        "pitch": 0.20868276059627533,
                        "yaw": 89.96507263183594
                    }
                },
                "velocity": {
                    "x": -0.011552833020687103,
                    "y": 1.8786388635635376,
                    "z": 0.018183479085564613
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.003648721380159259,
                "transform": {
                    "location": {
                        "x": 2220.847900390625,
                        "y": 2524.270751953125,
                        "z": 366.0697937011719
                    },
                    "rotation": {
                        "roll": -0.00012207038525957614,
                        "pitch": -1.9341728687286377,
                        "yaw": 179.94497680664062
                    }
                },
                "velocity": {
                    "x": 0.0035523201804608107,
                    "y": 0.00020574835070874542,
                    "z": -0.0008073765784502029
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48786,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.782902717590332,
                "transform": {
                    "location": {
                        "x": 2187.8212890625,
                        "y": 2571.98828125,
                        "z": 365.076171875
                    },
                    "rotation": {
                        "roll": 0.0016753890085965395,
                        "pitch": 0.42054155468940735,
                        "yaw": -89.4423828125
                    }
                },
                "velocity": {
                    "x": 0.060691140592098236,
                    "y": -5.782490253448486,
                    "z": 0.03291080519556999
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.840581178665161,
                "transform": {
                    "location": {
                        "x": 2164.4228515625,
                        "y": 2527.339111328125,
                        "z": 364.8253479003906
                    },
                    "rotation": {
                        "roll": 0.001317692338488996,
                        "pitch": 0.5309515595436096,
                        "yaw": -0.144775390625
                    }
                },
                "velocity": {
                    "x": 2.840391159057617,
                    "y": -0.0070366766303777695,
                    "z": 0.03208620101213455
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.999441623687744,
                "transform": {
                    "location": {
                        "x": 2185.02783203125,
                        "y": 2481.154052734375,
                        "z": 364.95928955078125
                    },
                    "rotation": {
                        "roll": 0.0015235396567732096,
                        "pitch": 0.5111030340194702,
                        "yaw": 89.77024841308594
                    }
                },
                "velocity": {
                    "x": -0.012475240044295788,
                    "y": 2.999340534210205,
                    "z": 0.021272286772727966
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48775,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.8963968753814697,
                "transform": {
                    "location": {
                        "x": 2175.9111328125,
                        "y": 2527.501220703125,
                        "z": 364.9753112792969
                    },
                    "rotation": {
                        "roll": 0.051545266062021255,
                        "pitch": 1.1425471305847168,
                        "yaw": 3.3084828853607178
                    }
                },
                "velocity": {
                    "x": 2.8881852626800537,
                    "y": 0.21015481650829315,
                    "z": 0.05775613710284233
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0005118837580084801,
                "transform": {
                    "location": {
                        "x": 2200.4296875,
                        "y": 2524.310302734375,
                        "z": 365.5064697265625
                    },
                    "rotation": {
                        "roll": 0.0017007970018312335,
                        "pitch": -1.4165948629379272,
                        "yaw": 179.79397583007812
                    }
                },
                "velocity": {
                    "x": -3.319978713989258e-05,
                    "y": 1.716664519335609e-05,
                    "z": -0.0005105174495838583
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.1178441047668457,
                "transform": {
                    "location": {
                        "x": 2187.878662109375,
                        "y": 2540.03369140625,
                        "z": 365.1703186035156
                    },
                    "rotation": {
                        "roll": 0.06701657921075821,
                        "pitch": -0.16904033720493317,
                        "yaw": -91.18529510498047
                    }
                },
                "velocity": {
                    "x": -0.12050146609544754,
                    "y": -2.114412307739258,
                    "z": -0.0017750072292983532
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.404323697090149,
                "transform": {
                    "location": {
                        "x": 2185.0439453125,
                        "y": 2469.463623046875,
                        "z": 364.8494873046875
                    },
                    "rotation": {
                        "roll": 0.0002358377823838964,
                        "pitch": 0.514538586139679,
                        "yaw": 90.2623291015625
                    }
                },
                "velocity": {
                    "x": -0.0026022184174507856,
                    "y": 1.4042637348175049,
                    "z": 0.01272102352231741
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00017143995501101017,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.0025719294790178537,
                        "pitch": 0.21771226823329926,
                        "yaw": -179.8242950439453
                    }
                },
                "velocity": {
                    "x": 8.018650078156497e-06,
                    "y": -2.1289642972988077e-05,
                    "z": -0.0001699238346191123
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.000526970427017659,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0010407698573544621,
                        "pitch": 0.21968619525432587,
                        "yaw": 179.8748321533203
                    }
                },
                "velocity": {
                    "x": 3.331974085085676e-06,
                    "y": 1.7894415577757172e-05,
                    "z": -0.0005266559892334044
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.537980079650879,
                "transform": {
                    "location": {
                        "x": 2187.8974609375,
                        "y": 2553.780029296875,
                        "z": 365.1510314941406
                    },
                    "rotation": {
                        "roll": 0.0018828584579750896,
                        "pitch": 0.2690889537334442,
                        "yaw": -89.93407440185547
                    }
                },
                "velocity": {
                    "x": 0.007073345594108105,
                    "y": -5.537959098815918,
                    "z": 0.013627280481159687
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.2879786491394043,
                "transform": {
                    "location": {
                        "x": 2185.01708984375,
                        "y": 2493.111328125,
                        "z": 365.0404357910156
                    },
                    "rotation": {
                        "roll": 0.00027027586475014687,
                        "pitch": 0.2759054899215698,
                        "yaw": 90.14110565185547
                    }
                },
                "velocity": {
                    "x": -0.0031053025741130114,
                    "y": 2.287933349609375,
                    "z": 0.014066600240767002
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.0361950397491455,
                "transform": {
                    "location": {
                        "x": 2185.00830078125,
                        "y": 2503.871337890625,
                        "z": 365.0996398925781
                    },
                    "rotation": {
                        "roll": 0.00033584327320568264,
                        "pitch": 0.25894612073898315,
                        "yaw": 90.10121154785156
                    }
                },
                "velocity": {
                    "x": -0.004472843371331692,
                    "y": 2.036165714263916,
                    "z": 0.009959888644516468
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0014456298667937517,
                "transform": {
                    "location": {
                        "x": 2210.50439453125,
                        "y": 2524.2880859375,
                        "z": 365.77301025390625
                    },
                    "rotation": {
                        "roll": -0.007659910712391138,
                        "pitch": -1.5363689661026,
                        "yaw": -179.84994506835938
                    }
                },
                "velocity": {
                    "x": -7.755428669042885e-05,
                    "y": 8.318670006701723e-05,
                    "z": 0.0014411492738872766
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.0052030086517334,
                "transform": {
                    "location": {
                        "x": 2151.880615234375,
                        "y": 2527.3759765625,
                        "z": 364.7347106933594
                    },
                    "rotation": {
                        "roll": 0.0009549656533636153,
                        "pitch": -0.10336124897003174,
                        "yaw": -1.4012449979782104
                    }
                },
                "velocity": {
                    "x": 2.0051796436309814,
                    "y": -0.009352517314255238,
                    "z": -0.0026286791544407606
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": 1.0000330209732056,
        "expert_target_speed": 2.1836841022509184,
        "target_point": [
            5.685487893015263,
            5.009542111456321
        ],
        "target_point_next": [
            18.812445866071137,
            29.741844056624842
        ]
    },
    "435": {
        "acceleration": [
            -1.6997671127319336,
            0.5417752265930176,
            -0.06329469382762909
        ],
        "angular_velocity": [
            -0.25107917189598083,
            0.5910554528236389,
            17.156824111938477
        ],
        "forward_vector": [
            -0.5252708196640015,
            0.850841760635376,
            -0.012603902257978916
        ],
        "right_vector": [
            -0.8509191870689392,
            -0.5252939462661743,
            0.0016691351775079966
        ],
        "location": [
            2182.9697265625,
            2522.087646484375,
            365.1148376464844
        ],
        "rotation": [
            -0.09564204514026642,
            -0.7221695184707642,
            121.68929290771484
        ],
        "velocity": [
            -1.3409136533737183,
            1.296142339706421,
            -0.028238492086529732
        ],
        "speed": 1.8649488975796864,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.89959716796875,
        "front_vehicle_info": {
            "id": 48779,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2164.816162109375,
                2527.337646484375,
                364.8313903808594
            ],
            "velocity": [
                0.00015925016487017274,
                -7.795450073899701e-06,
                0.0008643214241601527
            ],
            "speed_kmh": 0.0031640557662225,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 48788,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.40811651945114136,
                "transform": {
                    "location": {
                        "x": 2135.98095703125,
                        "y": 2527.302490234375,
                        "z": 364.7982482910156
                    },
                    "rotation": {
                        "roll": -0.00045776370097883046,
                        "pitch": -0.2145977020263672,
                        "yaw": -0.1231078952550888
                    }
                },
                "velocity": {
                    "x": 0.40660810470581055,
                    "y": 0.0036298029590398073,
                    "z": 0.03486793488264084
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48787,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.180045127868652,
                "transform": {
                    "location": {
                        "x": 2235.430908203125,
                        "y": 2524.320556640625,
                        "z": 366.5158386230469
                    },
                    "rotation": {
                        "roll": -0.01235961727797985,
                        "pitch": -1.5267589092254639,
                        "yaw": -179.81198120117188
                    }
                },
                "velocity": {
                    "x": -4.178015232086182,
                    "y": -0.024829799309372902,
                    "z": -0.12786278128623962
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.620378017425537,
                "transform": {
                    "location": {
                        "x": 2185.06298828125,
                        "y": 2457.90380859375,
                        "z": 364.7492370605469
                    },
                    "rotation": {
                        "roll": 0.004010775592178106,
                        "pitch": 0.4451097548007965,
                        "yaw": 89.95559692382812
                    }
                },
                "velocity": {
                    "x": -0.0011024504201486707,
                    "y": 1.6202880144119263,
                    "z": 0.017044363543391228
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0009937023278325796,
                "transform": {
                    "location": {
                        "x": 2220.846435546875,
                        "y": 2524.270751953125,
                        "z": 366.0697937011719
                    },
                    "rotation": {
                        "roll": -0.0023193350061774254,
                        "pitch": -1.7840248346328735,
                        "yaw": 179.94485473632812
                    }
                },
                "velocity": {
                    "x": 0.0008606342598795891,
                    "y": -0.00024094255059026182,
                    "z": -0.0004343958862591535
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48786,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.937731742858887,
                "transform": {
                    "location": {
                        "x": 2187.83837890625,
                        "y": 2570.229736328125,
                        "z": 365.0861511230469
                    },
                    "rotation": {
                        "roll": 0.011607482098042965,
                        "pitch": 0.5647609829902649,
                        "yaw": -89.45745086669922
                    }
                },
                "velocity": {
                    "x": 0.06324055790901184,
                    "y": -7.937357425689697,
                    "z": 0.04408799856901169
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0008789043640717864,
                "transform": {
                    "location": {
                        "x": 2164.816162109375,
                        "y": 2527.337646484375,
                        "z": 364.8313903808594
                    },
                    "rotation": {
                        "roll": 0.0013693254441022873,
                        "pitch": 0.3518025279045105,
                        "yaw": -0.0960998460650444
                    }
                },
                "velocity": {
                    "x": 0.00015925016487017274,
                    "y": -7.795450073899701e-06,
                    "z": 0.0008643214241601527
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.0249950885772705,
                "transform": {
                    "location": {
                        "x": 2185.02587890625,
                        "y": 2481.61279296875,
                        "z": 364.96673583984375
                    },
                    "rotation": {
                        "roll": 0.007208105176687241,
                        "pitch": -0.01178207527846098,
                        "yaw": 89.72505187988281
                    }
                },
                "velocity": {
                    "x": -0.00015647719556000084,
                    "y": 3.024913787841797,
                    "z": 0.022178420796990395
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0010589739540591836,
                "transform": {
                    "location": {
                        "x": 2200.4296875,
                        "y": 2524.310302734375,
                        "z": 365.5064697265625
                    },
                    "rotation": {
                        "roll": 0.0017007970018312335,
                        "pitch": -1.4165948629379272,
                        "yaw": 179.79397583007812
                    }
                },
                "velocity": {
                    "x": -1.1875628842972219e-05,
                    "y": -6.4533910517639015e-06,
                    "z": -0.0010588876903057098
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.004089785739779472,
                "transform": {
                    "location": {
                        "x": 2187.876708984375,
                        "y": 2539.957763671875,
                        "z": 365.1736755371094
                    },
                    "rotation": {
                        "roll": -0.058105431497097015,
                        "pitch": -0.5933248400688171,
                        "yaw": -91.38623046875
                    }
                },
                "velocity": {
                    "x": 0.0013534624595195055,
                    "y": 0.003586775390431285,
                    "z": -0.001424614922143519
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.8587340116500854,
                "transform": {
                    "location": {
                        "x": 2185.04150390625,
                        "y": 2469.893798828125,
                        "z": 364.8532409667969
                    },
                    "rotation": {
                        "roll": 0.0003366936871316284,
                        "pitch": 0.5114718675613403,
                        "yaw": 90.1221923828125
                    }
                },
                "velocity": {
                    "x": -0.007382764481008053,
                    "y": 1.8586429357528687,
                    "z": 0.016843928024172783
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00018009742780122906,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.002863266970962286,
                        "pitch": 0.21775324642658234,
                        "yaw": -179.8242950439453
                    }
                },
                "velocity": {
                    "x": 3.752671091206139e-06,
                    "y": -3.2467009987158235e-06,
                    "z": -0.0001800290629034862
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0006809105398133397,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0010407698573544621,
                        "pitch": 0.21968619525432587,
                        "yaw": 179.8748321533203
                    }
                },
                "velocity": {
                    "x": 3.02359458146384e-05,
                    "y": -3.317639129818417e-05,
                    "z": -0.0006794293876737356
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.7548161745071411,
                "transform": {
                    "location": {
                        "x": 2187.89990234375,
                        "y": 2552.6884765625,
                        "z": 365.1529541015625
                    },
                    "rotation": {
                        "roll": 0.0003984434297308326,
                        "pitch": -0.43176355957984924,
                        "yaw": -90.166015625
                    }
                },
                "velocity": {
                    "x": 0.010824647732079029,
                    "y": -1.754778265953064,
                    "z": 0.003997812047600746
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.6749852895736694,
                "transform": {
                    "location": {
                        "x": 2185.01708984375,
                        "y": 2493.603271484375,
                        "z": 365.04248046875
                    },
                    "rotation": {
                        "roll": -9.155597217613831e-05,
                        "pitch": 0.38759273290634155,
                        "yaw": 90.12989044189453
                    }
                },
                "velocity": {
                    "x": -0.002459437120705843,
                    "y": 1.6749566793441772,
                    "z": 0.00947831105440855
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.3968116343021393,
                "transform": {
                    "location": {
                        "x": 2185.00830078125,
                        "y": 2504.219482421875,
                        "z": 365.0998840332031
                    },
                    "rotation": {
                        "roll": 0.00010988661233568564,
                        "pitch": 0.44315630197525024,
                        "yaw": 90.10279083251953
                    }
                },
                "velocity": {
                    "x": 0.0006655220058746636,
                    "y": 0.3968040347099304,
                    "z": 0.0023647593334317207
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0001138120933319442,
                "transform": {
                    "location": {
                        "x": 2210.50439453125,
                        "y": 2524.2880859375,
                        "z": 365.7730407714844
                    },
                    "rotation": {
                        "roll": -0.007507322356104851,
                        "pitch": -1.5364031791687012,
                        "yaw": -179.8502655029297
                    }
                },
                "velocity": {
                    "x": -6.338417733786628e-05,
                    "y": 2.2680824258713983e-05,
                    "z": 9.176720050163567e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.0646741390228271,
                "transform": {
                    "location": {
                        "x": 2152.12939453125,
                        "y": 2527.377685546875,
                        "z": 364.73443603515625
                    },
                    "rotation": {
                        "roll": 0.004563834052532911,
                        "pitch": -0.15988105535507202,
                        "yaw": -1.62890625
                    }
                },
                "velocity": {
                    "x": 1.0646655559539795,
                    "y": -0.0032797500025480986,
                    "z": -0.002746000187471509
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": 1.0008033514022827,
        "expert_target_speed": 2.4206128635852466,
        "target_point": [
            20.355798960815207,
            28.331600927881546
        ],
        "target_point_next": [
            20.355798960815207,
            28.331600927881546
        ]
    },
    "440": {
        "acceleration": [
            -1.7038774490356445,
            0.7676196098327637,
            -0.04042215645313263
        ],
        "angular_velocity": [
            0.44826871156692505,
            0.20691677927970886,
            20.640724182128906
        ],
        "forward_vector": [
            -0.5938072204589844,
            0.8045343160629272,
            -0.010841038078069687
        ],
        "right_vector": [
            -0.8045982122421265,
            -0.5938109159469604,
            0.003227555425837636
        ],
        "location": [
            2182.593505859375,
            2522.447021484375,
            365.10595703125
        ],
        "rotation": [
            -0.1849364936351776,
            -0.6211578845977783,
            126.43013000488281
        ],
        "velocity": [
            -1.7798006534576416,
            1.480634331703186,
            -0.03897089883685112
        ],
        "speed": 2.315160553885278,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.265026092529297,
        "front_vehicle_info": {
            "id": 48779,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2164.99755859375,
                2527.337646484375,
                364.8310546875
            ],
            "velocity": [
                1.1836999654769897,
                -0.002117318334057927,
                0.01306098885834217
            ],
            "speed_kmh": 4.2615860923314655,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 48788,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.4581942558288574,
                "transform": {
                    "location": {
                        "x": 2136.411865234375,
                        "y": 2527.30615234375,
                        "z": 364.79815673828125
                    },
                    "rotation": {
                        "roll": -0.0010375975398346782,
                        "pitch": -0.17712728679180145,
                        "yaw": 0.021006861701607704
                    }
                },
                "velocity": {
                    "x": 2.4579896926879883,
                    "y": 0.029284223914146423,
                    "z": -0.012167987413704395
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48787,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.450191020965576,
                "transform": {
                    "location": {
                        "x": 2234.204345703125,
                        "y": 2524.3125,
                        "z": 366.4787292480469
                    },
                    "rotation": {
                        "roll": -0.0164794921875,
                        "pitch": -1.54733145236969,
                        "yaw": -179.68600463867188
                    }
                },
                "velocity": {
                    "x": -5.447504997253418,
                    "y": -0.037382304668426514,
                    "z": -0.1669534295797348
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.547945022583008,
                "transform": {
                    "location": {
                        "x": 2185.061767578125,
                        "y": 2458.487060546875,
                        "z": 364.75537109375
                    },
                    "rotation": {
                        "roll": 0.0006752299959771335,
                        "pitch": 0.7323533296585083,
                        "yaw": 90.05953979492188
                    }
                },
                "velocity": {
                    "x": -0.004418427124619484,
                    "y": 2.5478177070617676,
                    "z": 0.025100573897361755
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00020134150690864772,
                "transform": {
                    "location": {
                        "x": 2220.84619140625,
                        "y": 2524.270751953125,
                        "z": 366.0697937011719
                    },
                    "rotation": {
                        "roll": -0.0032653810922056437,
                        "pitch": -1.7549418210983276,
                        "yaw": 179.9447479248047
                    }
                },
                "velocity": {
                    "x": 0.00014049529272597283,
                    "y": -8.009357406990603e-05,
                    "z": -0.00011993538646493107
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48786,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.8687944412231445,
                "transform": {
                    "location": {
                        "x": 2187.853271484375,
                        "y": 2568.204833984375,
                        "z": 365.096435546875
                    },
                    "rotation": {
                        "roll": 0.006498333532363176,
                        "pitch": 0.3418099582195282,
                        "yaw": -89.4786376953125
                    }
                },
                "velocity": {
                    "x": 0.05182992294430733,
                    "y": -7.868524074554443,
                    "z": 0.03959273174405098
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.1837738752365112,
                "transform": {
                    "location": {
                        "x": 2164.99755859375,
                        "y": 2527.337646484375,
                        "z": 364.8310546875
                    },
                    "rotation": {
                        "roll": 0.00046026843483559787,
                        "pitch": 0.6250510811805725,
                        "yaw": -0.1139831617474556
                    }
                },
                "velocity": {
                    "x": 1.1836999654769897,
                    "y": -0.002117318334057927,
                    "z": 0.01306098885834217
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.831401824951172,
                "transform": {
                    "location": {
                        "x": 2185.026611328125,
                        "y": 2482.664306640625,
                        "z": 364.96685791015625
                    },
                    "rotation": {
                        "roll": -0.007965030148625374,
                        "pitch": 0.9447721838951111,
                        "yaw": 89.8516616821289
                    }
                },
                "velocity": {
                    "x": -0.002108184387907386,
                    "y": 4.831277847290039,
                    "z": 0.03451818227767944
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48789,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.16796875,
                        "y": 2442.78271484375,
                        "z": 364.8864440917969
                    },
                    "rotation": {
                        "roll": -2.668230791869064e-08,
                        "pitch": 0.6808263659477234,
                        "yaw": 90.06040954589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.26203107833862305,
                "transform": {
                    "location": {
                        "x": 2200.3984375,
                        "y": 2524.310302734375,
                        "z": 365.5055236816406
                    },
                    "rotation": {
                        "roll": 0.0019534032326191664,
                        "pitch": -1.4095460176467896,
                        "yaw": 179.80032348632812
                    }
                },
                "velocity": {
                    "x": -0.26196226477622986,
                    "y": 0.000896262121386826,
                    "z": -0.005937299691140652
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0031203138642013073,
                "transform": {
                    "location": {
                        "x": 2187.8759765625,
                        "y": 2539.953369140625,
                        "z": 365.16925048828125
                    },
                    "rotation": {
                        "roll": -0.004882811103016138,
                        "pitch": -0.047305889427661896,
                        "yaw": -91.38711547851562
                    }
                },
                "velocity": {
                    "x": 0.0011728701647371054,
                    "y": 0.002838697750121355,
                    "z": -0.000550026074051857
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.202885150909424,
                "transform": {
                    "location": {
                        "x": 2185.035400390625,
                        "y": 2470.30517578125,
                        "z": 364.85662841796875
                    },
                    "rotation": {
                        "roll": -0.0013732751831412315,
                        "pitch": 0.536941647529602,
                        "yaw": 89.66987609863281
                    }
                },
                "velocity": {
                    "x": -0.003027956932783127,
                    "y": 2.2027933597564697,
                    "z": 0.01987336203455925
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00023151078494265676,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.0028030879329890013,
                        "pitch": 0.2176303118467331,
                        "yaw": -179.8242950439453
                    }
                },
                "velocity": {
                    "x": 7.08308061803109e-06,
                    "y": -1.3755992767983116e-05,
                    "z": -0.00023099317331798375
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00024297338677570224,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0010407698573544621,
                        "pitch": 0.21968619525432587,
                        "yaw": 179.8748321533203
                    }
                },
                "velocity": {
                    "x": -7.047019607853144e-06,
                    "y": 7.057824547018754e-08,
                    "z": -0.00024287115957122296
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.828676700592041,
                "transform": {
                    "location": {
                        "x": 2187.900146484375,
                        "y": 2552.54296875,
                        "z": 365.15338134765625
                    },
                    "rotation": {
                        "roll": 0.005551520735025406,
                        "pitch": -0.17050200700759888,
                        "yaw": -90.15369415283203
                    }
                },
                "velocity": {
                    "x": -0.0006079201120883226,
                    "y": -0.8286743760108948,
                    "z": 0.001856679911725223
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.099946975708008,
                "transform": {
                    "location": {
                        "x": 2185.01708984375,
                        "y": 2494.05615234375,
                        "z": 365.0457763671875
                    },
                    "rotation": {
                        "roll": -0.0012207156978547573,
                        "pitch": 0.3250555098056793,
                        "yaw": 90.12910461425781
                    }
                },
                "velocity": {
                    "x": -0.0032050027512013912,
                    "y": 2.0999133586883545,
                    "z": 0.011421918869018555
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.278428077697754,
                "transform": {
                    "location": {
                        "x": 2185.008056640625,
                        "y": 2504.43408203125,
                        "z": 365.1023864746094
                    },
                    "rotation": {
                        "roll": 3.094963540206663e-05,
                        "pitch": 0.2700178623199463,
                        "yaw": 90.07415771484375
                    }
                },
                "velocity": {
                    "x": -0.0016497605247423053,
                    "y": 1.2784130573272705,
                    "z": 0.005972347222268581
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.028759475564584e-05,
                "transform": {
                    "location": {
                        "x": 2210.50439453125,
                        "y": 2524.2880859375,
                        "z": 365.7730407714844
                    },
                    "rotation": {
                        "roll": -0.007629392668604851,
                        "pitch": -1.5364645719528198,
                        "yaw": -179.85043334960938
                    }
                },
                "velocity": {
                    "x": -5.542069629882462e-05,
                    "y": 7.28089332824311e-07,
                    "z": 5.808712376165204e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.6248618364334106,
                "transform": {
                    "location": {
                        "x": 2152.492919921875,
                        "y": 2527.3759765625,
                        "z": 364.7334289550781
                    },
                    "rotation": {
                        "roll": -0.0007629395695403218,
                        "pitch": -0.0733630582690239,
                        "yaw": -1.503692865371704
                    }
                },
                "velocity": {
                    "x": 1.6248490810394287,
                    "y": -0.006012456491589546,
                    "z": -0.002249822486191988
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": 0.999938428401947,
        "expert_target_speed": 2.719716549838354,
        "target_point": [
            22.115172891364583,
            26.46299548432688
        ],
        "target_point_next": [
            22.115172891364583,
            26.46299548432688
        ]
    },
    "445": {
        "acceleration": [
            -1.8325614929199219,
            -0.3514385223388672,
            0.0018812716007232666
        ],
        "angular_velocity": [
            -0.027368860319256783,
            -0.2997390627861023,
            24.350238800048828
        ],
        "forward_vector": [
            -0.6704287528991699,
            0.7418985962867737,
            -0.010571520775556564
        ],
        "right_vector": [
            -0.7419548034667969,
            -0.6704457402229309,
            0.0023679472506046295
        ],
        "location": [
            2182.10595703125,
            2522.8359375,
            365.0963439941406
        ],
        "rotation": [
            -0.13568110764026642,
            -0.6057147979736328,
            132.10305786132812
        ],
        "velocity": [
            -2.2288942337036133,
            1.4908392429351807,
            -0.037122778594493866
        ],
        "speed": 2.681524035564992,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.320478439331055,
        "front_vehicle_info": {
            "id": 48779,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2165.382568359375,
                2527.3369140625,
                364.834716796875
            ],
            "velocity": [
                1.8985973596572876,
                -0.0043471031822264194,
                0.01910543441772461
            ],
            "speed_kmh": 6.835314462656621,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 48788,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.3103013038635254,
                "transform": {
                    "location": {
                        "x": 2137.14111328125,
                        "y": 2527.31298828125,
                        "z": 364.79486083984375
                    },
                    "rotation": {
                        "roll": -0.0018310544546693563,
                        "pitch": -0.1934855878353119,
                        "yaw": 0.2579839825630188
                    }
                },
                "velocity": {
                    "x": 3.310011863708496,
                    "y": 0.04150521010160446,
                    "z": -0.013899669051170349
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48787,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.9976837635040283,
                "transform": {
                    "location": {
                        "x": 2232.86376953125,
                        "y": 2524.302978515625,
                        "z": 366.43707275390625
                    },
                    "rotation": {
                        "roll": -0.02294921688735485,
                        "pitch": -1.8608371019363403,
                        "yaw": -179.43655395507812
                    }
                },
                "velocity": {
                    "x": -3.9956164360046387,
                    "y": -0.02553100511431694,
                    "z": -0.1259867399930954
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0007589870947413146,
                "transform": {
                    "location": {
                        "x": 2185.0615234375,
                        "y": 2458.81591796875,
                        "z": 364.7586364746094
                    },
                    "rotation": {
                        "roll": -0.001403811271302402,
                        "pitch": 0.1851595938205719,
                        "yaw": 90.20533752441406
                    }
                },
                "velocity": {
                    "x": 0.0004670029447879642,
                    "y": -0.00037998115294612944,
                    "z": -0.0004621514235623181
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0005137433181516826,
                "transform": {
                    "location": {
                        "x": 2220.84619140625,
                        "y": 2524.270751953125,
                        "z": 366.0697937011719
                    },
                    "rotation": {
                        "roll": -0.002105712890625,
                        "pitch": -1.7457894086837769,
                        "yaw": 179.94468688964844
                    }
                },
                "velocity": {
                    "x": -2.4787783331703395e-05,
                    "y": 3.6591256503015757e-05,
                    "z": 0.0005118386470712721
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48786,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.460241794586182,
                "transform": {
                    "location": {
                        "x": 2187.86474609375,
                        "y": 2566.415771484375,
                        "z": 365.1047058105469
                    },
                    "rotation": {
                        "roll": 0.003747947746887803,
                        "pitch": 0.1223696619272232,
                        "yaw": -89.4532699584961
                    }
                },
                "velocity": {
                    "x": 0.037729594856500626,
                    "y": -6.460066318511963,
                    "z": 0.02906942367553711
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.8986984491348267,
                "transform": {
                    "location": {
                        "x": 2165.382568359375,
                        "y": 2527.3369140625,
                        "z": 364.834716796875
                    },
                    "rotation": {
                        "roll": -0.0008850097074173391,
                        "pitch": 0.6940769553184509,
                        "yaw": -0.126708984375
                    }
                },
                "velocity": {
                    "x": 1.8985973596572876,
                    "y": -0.0043471031822264194,
                    "z": 0.01910543441772461
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.665663957595825,
                "transform": {
                    "location": {
                        "x": 2185.02734375,
                        "y": 2483.737548828125,
                        "z": 364.9790954589844
                    },
                    "rotation": {
                        "roll": -0.002624501008540392,
                        "pitch": 0.3690214455127716,
                        "yaw": 89.94698333740234
                    }
                },
                "velocity": {
                    "x": -0.004043292719870806,
                    "y": 3.6655683517456055,
                    "z": 0.0261724554002285
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48789,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.166259765625,
                        "y": 2444.255126953125,
                        "z": 364.7710876464844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6664966344833374,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.8797793388366699,
                "transform": {
                    "location": {
                        "x": 2200.253173828125,
                        "y": 2524.310302734375,
                        "z": 365.501953125
                    },
                    "rotation": {
                        "roll": 0.002326636342331767,
                        "pitch": -1.3984401226043701,
                        "yaw": 179.78982543945312
                    }
                },
                "velocity": {
                    "x": -0.8794935941696167,
                    "y": 0.002012270502746105,
                    "z": -0.02233150042593479
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00046886963536962867,
                "transform": {
                    "location": {
                        "x": 2187.8759765625,
                        "y": 2539.952392578125,
                        "z": 365.16845703125
                    },
                    "rotation": {
                        "roll": 0.004229402635246515,
                        "pitch": 0.050318002700805664,
                        "yaw": -91.38713836669922
                    }
                },
                "velocity": {
                    "x": 6.980305329307157e-07,
                    "y": -0.0004594765487127006,
                    "z": -9.337846131529659e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.543246030807495,
                "transform": {
                    "location": {
                        "x": 2185.036865234375,
                        "y": 2471.026123046875,
                        "z": 364.8627624511719
                    },
                    "rotation": {
                        "roll": -0.000427254824899137,
                        "pitch": 0.5707100629806519,
                        "yaw": 89.86015319824219
                    }
                },
                "velocity": {
                    "x": -0.0010274202795699239,
                    "y": 3.5431087017059326,
                    "z": 0.03119305521249771
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.2005437131156214e-05,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.78143310546875
                    },
                    "rotation": {
                        "roll": 0.0025037070736289024,
                        "pitch": 0.21779422461986542,
                        "yaw": -179.82427978515625
                    }
                },
                "velocity": {
                    "x": 5.969442099740263e-06,
                    "y": 8.110097951430362e-06,
                    "z": 1.9566075934562832e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.4372902114700992e-05,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0010407698573544621,
                        "pitch": 0.21968619525432587,
                        "yaw": 179.8748321533203
                    }
                },
                "velocity": {
                    "x": 6.518214831885416e-06,
                    "y": -5.946915734966751e-06,
                    "z": -1.1345809070917312e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.8441524505615234,
                "transform": {
                    "location": {
                        "x": 2187.900146484375,
                        "y": 2552.229736328125,
                        "z": 365.1541748046875
                    },
                    "rotation": {
                        "roll": -0.0014038147637620568,
                        "pitch": 0.22480200231075287,
                        "yaw": -90.14657592773438
                    }
                },
                "velocity": {
                    "x": 0.0006951313116587698,
                    "y": -1.8441506624221802,
                    "z": 0.002441730350255966
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7478975057601929,
                "transform": {
                    "location": {
                        "x": 2185.0166015625,
                        "y": 2494.584716796875,
                        "z": 365.0486145019531
                    },
                    "rotation": {
                        "roll": -0.0006408766494132578,
                        "pitch": 0.36245080828666687,
                        "yaw": 90.12088775634766
                    }
                },
                "velocity": {
                    "x": -0.0026548539754003286,
                    "y": 1.7478594779968262,
                    "z": 0.011220273561775684
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.095616579055786,
                "transform": {
                    "location": {
                        "x": 2185.008056640625,
                        "y": 2504.8603515625,
                        "z": 365.10504150390625
                    },
                    "rotation": {
                        "roll": 9.532313561066985e-05,
                        "pitch": 0.21144898235797882,
                        "yaw": 90.08274841308594
                    }
                },
                "velocity": {
                    "x": -0.003684896044433117,
                    "y": 2.095590353012085,
                    "z": 0.00984303466975689
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0001381340407533571,
                "transform": {
                    "location": {
                        "x": 2210.50439453125,
                        "y": 2524.2880859375,
                        "z": 365.7730407714844
                    },
                    "rotation": {
                        "roll": -0.00848388671875,
                        "pitch": -1.5368266105651855,
                        "yaw": -179.85049438476562
                    }
                },
                "velocity": {
                    "x": -7.25027930457145e-05,
                    "y": 3.237983037251979e-05,
                    "z": -0.00011303054634481668
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.7778748273849487,
                "transform": {
                    "location": {
                        "x": 2152.85693359375,
                        "y": 2527.37451171875,
                        "z": 364.7327575683594
                    },
                    "rotation": {
                        "roll": 0.001947600394487381,
                        "pitch": -0.06961328536272049,
                        "yaw": -1.462646484375
                    }
                },
                "velocity": {
                    "x": 1.7778303623199463,
                    "y": -0.012400939129292965,
                    "z": -0.0021204757504165173
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": 0.899915874004364,
        "expert_target_speed": 2.8703725454041304,
        "target_point": [
            24.00727201652137,
            24.046345493084505
        ],
        "target_point_next": [
            24.00727201652137,
            24.046345493084505
        ]
    },
    "450": {
        "acceleration": [
            -0.7831954956054688,
            -0.7126665115356445,
            -0.02886958420276642
        ],
        "angular_velocity": [
            -0.1093478798866272,
            -0.7509306073188782,
            25.430463790893555
        ],
        "forward_vector": [
            -0.7473945021629333,
            0.6642638444900513,
            -0.012455259449779987
        ],
        "right_vector": [
            -0.6643243432044983,
            -0.7474437952041626,
            0.000999139971099794
        ],
        "location": [
            2181.521484375,
            2523.21240234375,
            365.0858154296875
        ],
        "rotation": [
            -0.05725095421075821,
            -0.7136522531509399,
            138.37017822265625
        ],
        "velocity": [
            -2.547177791595459,
            1.3587000370025635,
            -0.04987457022070885
        ],
        "speed": 2.886898074499321,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.05955696105957,
        "front_vehicle_info": {
            "id": 48779,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2166.002197265625,
                2527.335693359375,
                364.84173583984375
            ],
            "velocity": [
                3.08990478515625,
                -0.006831896025687456,
                0.045660801231861115
            ],
            "speed_kmh": 11.124898894693604,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 48788,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.079239368438721,
                "transform": {
                    "location": {
                        "x": 2138.0703125,
                        "y": 2527.32177734375,
                        "z": 364.7912292480469
                    },
                    "rotation": {
                        "roll": -0.001190185546875,
                        "pitch": -0.1992161124944687,
                        "yaw": 0.400637149810791
                    }
                },
                "velocity": {
                    "x": 4.07912540435791,
                    "y": 0.02666972577571869,
                    "z": -0.014748601242899895
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48787,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.561939001083374,
                "transform": {
                    "location": {
                        "x": 2232.5771484375,
                        "y": 2524.301025390625,
                        "z": 366.42767333984375
                    },
                    "rotation": {
                        "roll": -0.03112792782485485,
                        "pitch": -2.2247564792633057,
                        "yaw": -179.34222412109375
                    }
                },
                "velocity": {
                    "x": -0.5616214871406555,
                    "y": -0.008842985145747662,
                    "z": -0.016688967123627663
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.2652050256729126,
                "transform": {
                    "location": {
                        "x": 2185.061279296875,
                        "y": 2458.989013671875,
                        "z": 364.760498046875
                    },
                    "rotation": {
                        "roll": 0.0012508052168413997,
                        "pitch": 0.6493255496025085,
                        "yaw": 90.19319915771484
                    }
                },
                "velocity": {
                    "x": -0.004430251196026802,
                    "y": 1.265127182006836,
                    "z": 0.013307904824614525
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00038537217187695205,
                "transform": {
                    "location": {
                        "x": 2220.84619140625,
                        "y": 2524.270751953125,
                        "z": 366.0697937011719
                    },
                    "rotation": {
                        "roll": -0.002105712890625,
                        "pitch": -1.7457894086837769,
                        "yaw": 179.94468688964844
                    }
                },
                "velocity": {
                    "x": -3.526568252709694e-05,
                    "y": 0.00011806510883616284,
                    "z": 0.00036514198291115463
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48786,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.0279157161712646,
                "transform": {
                    "location": {
                        "x": 2187.869384765625,
                        "y": 2565.3740234375,
                        "z": 365.1086730957031
                    },
                    "rotation": {
                        "roll": -0.0018615826265886426,
                        "pitch": -0.28298836946487427,
                        "yaw": -89.51961517333984
                    }
                },
                "velocity": {
                    "x": 0.007895763963460922,
                    "y": -2.027879476547241,
                    "z": 0.009215555153787136
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.09024977684021,
                "transform": {
                    "location": {
                        "x": 2166.002197265625,
                        "y": 2527.335693359375,
                        "z": 364.84173583984375
                    },
                    "rotation": {
                        "roll": -0.00042724609375,
                        "pitch": 0.7761348485946655,
                        "yaw": -0.1281738132238388
                    }
                },
                "velocity": {
                    "x": 3.08990478515625,
                    "y": -0.006831896025687456,
                    "z": 0.045660801231861115
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00653255358338356,
                "transform": {
                    "location": {
                        "x": 2185.0263671875,
                        "y": 2484.279052734375,
                        "z": 364.9890441894531
                    },
                    "rotation": {
                        "roll": -0.0015868803020566702,
                        "pitch": -0.3818075656890869,
                        "yaw": 89.87657928466797
                    }
                },
                "velocity": {
                    "x": -0.000835459737572819,
                    "y": 0.006419721525162458,
                    "z": -0.0008737498428672552
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48789,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.165283203125,
                        "y": 2445.08544921875,
                        "z": 364.7059631347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6664966344833374,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.4756238460540771,
                "transform": {
                    "location": {
                        "x": 2199.95751953125,
                        "y": 2524.31103515625,
                        "z": 365.4945983886719
                    },
                    "rotation": {
                        "roll": 0.002095661358907819,
                        "pitch": -1.3957148790359497,
                        "yaw": 179.78759765625
                    }
                },
                "velocity": {
                    "x": -1.4751664400100708,
                    "y": 0.003301150631159544,
                    "z": -0.03658866509795189
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0003770776675082743,
                "transform": {
                    "location": {
                        "x": 2187.8759765625,
                        "y": 2539.952880859375,
                        "z": 365.1688232421875
                    },
                    "rotation": {
                        "roll": 0.0023135533556342125,
                        "pitch": 0.004501094575971365,
                        "yaw": -91.38713836669922
                    }
                },
                "velocity": {
                    "x": -1.63352997333277e-05,
                    "y": -0.0002935429511126131,
                    "z": 0.00023612128279637545
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.836667060852051,
                "transform": {
                    "location": {
                        "x": 2185.037109375,
                        "y": 2472.0673828125,
                        "z": 364.87164306640625
                    },
                    "rotation": {
                        "roll": -0.0010375750716775656,
                        "pitch": 0.5811534523963928,
                        "yaw": 89.95830535888672
                    }
                },
                "velocity": {
                    "x": -0.004103049635887146,
                    "y": 4.836494445800781,
                    "z": 0.040640488266944885
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00021991823450662196,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.0029446317348629236,
                        "pitch": 0.2176986038684845,
                        "yaw": -179.82423400878906
                    }
                },
                "velocity": {
                    "x": 4.366673238109797e-06,
                    "y": 2.962010285045835e-06,
                    "z": -0.00021985491912346333
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0006858461420051754,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0007358263246715069,
                        "pitch": 0.21946080029010773,
                        "yaw": 179.8748779296875
                    }
                },
                "velocity": {
                    "x": -2.2839940356789157e-05,
                    "y": 1.399776738253422e-05,
                    "z": -0.0006853227969259024
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.190104603767395,
                "transform": {
                    "location": {
                        "x": 2187.900146484375,
                        "y": 2551.7041015625,
                        "z": 365.1550598144531
                    },
                    "rotation": {
                        "roll": 4.325903137214482e-05,
                        "pitch": 0.09502158313989639,
                        "yaw": -90.11947631835938
                    }
                },
                "velocity": {
                    "x": 0.001834426075220108,
                    "y": -1.1901005506515503,
                    "z": 0.00251909252256155
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.47467318177223206,
                "transform": {
                    "location": {
                        "x": 2185.0166015625,
                        "y": 2494.665771484375,
                        "z": 365.0486145019531
                    },
                    "rotation": {
                        "roll": -0.00024413305800408125,
                        "pitch": 0.4385937452316284,
                        "yaw": 90.12427520751953
                    }
                },
                "velocity": {
                    "x": 0.00029349394026212394,
                    "y": 0.47466912865638733,
                    "z": 0.0019355296390131116
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.3121049404144287,
                "transform": {
                    "location": {
                        "x": 2185.006591796875,
                        "y": 2505.43701171875,
                        "z": 365.1073303222656
                    },
                    "rotation": {
                        "roll": -0.0007934565655887127,
                        "pitch": 0.2471640408039093,
                        "yaw": 90.0890121459961
                    }
                },
                "velocity": {
                    "x": -0.004233939107507467,
                    "y": 2.3120839595794678,
                    "z": 0.008905353024601936
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.04214833304286003,
                "transform": {
                    "location": {
                        "x": 2210.50146484375,
                        "y": 2524.2880859375,
                        "z": 365.77294921875
                    },
                    "rotation": {
                        "roll": -0.007965086959302425,
                        "pitch": -1.5292041301727295,
                        "yaw": -179.86375427246094
                    }
                },
                "velocity": {
                    "x": -0.0421433188021183,
                    "y": 0.0004434306756593287,
                    "z": -0.0004756069101858884
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.8202673196792603,
                "transform": {
                    "location": {
                        "x": 2153.2373046875,
                        "y": 2527.37109375,
                        "z": 364.73199462890625
                    },
                    "rotation": {
                        "roll": 0.0010275193490087986,
                        "pitch": -0.06866388767957687,
                        "yaw": -1.1893616914749146
                    }
                },
                "velocity": {
                    "x": 1.820259928703308,
                    "y": -0.00520902406424284,
                    "z": -2.2573471142095514e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": 0.7844418883323669,
        "expert_target_speed": 2.78052677462583,
        "target_point": [
            25.80184560569168,
            21.17501368711485
        ],
        "target_point_next": [
            25.80184560569168,
            21.17501368711485
        ]
    },
    "455": {
        "acceleration": [
            -0.4007577896118164,
            -1.295781135559082,
            0.005099773406982422
        ],
        "angular_velocity": [
            -0.22134238481521606,
            -0.6494140028953552,
            24.72874641418457
        ],
        "forward_vector": [
            -0.8155691623687744,
            0.5784526467323303,
            -0.015474534593522549
        ],
        "right_vector": [
            -0.5785145163536072,
            -0.8156718611717224,
            -0.0005742120556533337
        ],
        "location": [
            2180.8828125,
            2523.5361328125,
            365.07342529296875
        ],
        "rotation": [
            0.032903868705034256,
            -0.8866609334945679,
            144.65335083007812
        ],
        "velocity": [
            -2.6682183742523193,
            1.0864337682724,
            -0.05281601473689079
        ],
        "speed": 2.880924786512181,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.440908432006836,
        "front_vehicle_info": {
            "id": 48779,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2166.951904296875,
                2527.333740234375,
                364.8548278808594
            ],
            "velocity": [
                4.4276885986328125,
                -0.009894218295812607,
                0.06642806529998779
            ],
            "speed_kmh": 15.941512549065767,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 48788,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.8407111167907715,
                "transform": {
                    "location": {
                        "x": 2139.1875,
                        "y": 2527.3291015625,
                        "z": 364.78704833984375
                    },
                    "rotation": {
                        "roll": -0.0014038083609193563,
                        "pitch": -0.20004257559776306,
                        "yaw": 0.36921462416648865
                    }
                },
                "velocity": {
                    "x": 4.840600967407227,
                    "y": 0.02767116203904152,
                    "z": -0.017409401014447212
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48787,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.9007779359817505,
                "transform": {
                    "location": {
                        "x": 2232.234375,
                        "y": 2524.2978515625,
                        "z": 366.41796875
                    },
                    "rotation": {
                        "roll": -0.0239562951028347,
                        "pitch": -1.7106002569198608,
                        "yaw": -179.3335418701172
                    }
                },
                "velocity": {
                    "x": -1.8997994661331177,
                    "y": -0.01809321530163288,
                    "z": -0.0582362599670887
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.5555665493011475,
                "transform": {
                    "location": {
                        "x": 2185.059326171875,
                        "y": 2459.4765625,
                        "z": 364.7655334472656
                    },
                    "rotation": {
                        "roll": 0.0019579774234443903,
                        "pitch": 0.8076903223991394,
                        "yaw": 90.1875991821289
                    }
                },
                "velocity": {
                    "x": -0.00692815100774169,
                    "y": 2.5554192066192627,
                    "z": 0.026559142395853996
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.288383181323297e-05,
                "transform": {
                    "location": {
                        "x": 2220.84619140625,
                        "y": 2524.270751953125,
                        "z": 366.0697937011719
                    },
                    "rotation": {
                        "roll": -0.002105712890625,
                        "pitch": -1.7457894086837769,
                        "yaw": 179.94468688964844
                    }
                },
                "velocity": {
                    "x": -5.2569805120583624e-05,
                    "y": 1.0300398116669385e-06,
                    "z": 5.661649538524216e-06
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48786,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.6340306997299194,
                "transform": {
                    "location": {
                        "x": 2187.86962890625,
                        "y": 2565.26611328125,
                        "z": 365.1095886230469
                    },
                    "rotation": {
                        "roll": -0.0017395023023709655,
                        "pitch": -0.0315827913582325,
                        "yaw": -89.59181213378906
                    }
                },
                "velocity": {
                    "x": 0.005089574959129095,
                    "y": -0.6340025067329407,
                    "z": 0.0031349563505500555
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.428197860717773,
                "transform": {
                    "location": {
                        "x": 2166.951904296875,
                        "y": 2527.333740234375,
                        "z": 364.8548278808594
                    },
                    "rotation": {
                        "roll": 0.0008961237617768347,
                        "pitch": 0.9239196181297302,
                        "yaw": -0.1267700344324112
                    }
                },
                "velocity": {
                    "x": 4.4276885986328125,
                    "y": -0.009894218295812607,
                    "z": 0.06642806529998779
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.006449526641517878,
                "transform": {
                    "location": {
                        "x": 2185.0263671875,
                        "y": 2484.282470703125,
                        "z": 364.9855651855469
                    },
                    "rotation": {
                        "roll": 0.0003760973922908306,
                        "pitch": 0.04686875641345978,
                        "yaw": 89.8764419555664
                    }
                },
                "velocity": {
                    "x": 0.00012612261343747377,
                    "y": -0.0062829842790961266,
                    "z": -0.0014507236192002892
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48789,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.1640625,
                        "y": 2446.33251953125,
                        "z": 364.64581298828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6664966344833374,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.9831866025924683,
                "transform": {
                    "location": {
                        "x": 2199.52734375,
                        "y": 2524.312255859375,
                        "z": 365.4839782714844
                    },
                    "rotation": {
                        "roll": 0.0034488970413804054,
                        "pitch": -1.3975181579589844,
                        "yaw": 179.81112670898438
                    }
                },
                "velocity": {
                    "x": -1.9825893640518188,
                    "y": 0.004452891182154417,
                    "z": -0.04846350476145744
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.000864026602357626,
                "transform": {
                    "location": {
                        "x": 2187.8759765625,
                        "y": 2539.953125,
                        "z": 365.1690673828125
                    },
                    "rotation": {
                        "roll": 0.0004907555994577706,
                        "pitch": -0.022703547030687332,
                        "yaw": -91.38713836669922
                    }
                },
                "velocity": {
                    "x": -5.024710844736546e-06,
                    "y": -9.235543984686956e-05,
                    "z": 0.0008590618381276727
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.5216102600097656,
                "transform": {
                    "location": {
                        "x": 2185.037353515625,
                        "y": 2473.202880859375,
                        "z": 364.8825988769531
                    },
                    "rotation": {
                        "roll": -0.00021360850951168686,
                        "pitch": 0.39335739612579346,
                        "yaw": 90.24871063232422
                    }
                },
                "velocity": {
                    "x": -0.010270369239151478,
                    "y": 2.521501064300537,
                    "z": 0.021093424409627914
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0001591630425537005,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.0029446317348629236,
                        "pitch": 0.2176986038684845,
                        "yaw": -179.82423400878906
                    }
                },
                "velocity": {
                    "x": 1.0239966286462732e-05,
                    "y": 4.692000220529735e-05,
                    "z": 0.0001517449418315664
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.874481136444956e-05,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0007358263246715069,
                        "pitch": 0.21946080029010773,
                        "yaw": 179.8748779296875
                    }
                },
                "velocity": {
                    "x": 3.154650403303094e-05,
                    "y": 7.494357851101086e-05,
                    "z": 3.5551653127186e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.907869279384613,
                "transform": {
                    "location": {
                        "x": 2187.900146484375,
                        "y": 2551.60205078125,
                        "z": 365.15521240234375
                    },
                    "rotation": {
                        "roll": -0.00021362362895160913,
                        "pitch": 0.06147852912545204,
                        "yaw": -90.09839630126953
                    }
                },
                "velocity": {
                    "x": -0.0015061021549627185,
                    "y": -0.9078646898269653,
                    "z": 0.0024620818439871073
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.32667076587677,
                "transform": {
                    "location": {
                        "x": 2185.0166015625,
                        "y": 2494.889892578125,
                        "z": 365.0512390136719
                    },
                    "rotation": {
                        "roll": 0.00028677802765741944,
                        "pitch": 0.2823326885700226,
                        "yaw": 90.13219451904297
                    }
                },
                "velocity": {
                    "x": -0.0016833458794280887,
                    "y": 1.3266481161117554,
                    "z": 0.007563209161162376
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.2897040843963623,
                "transform": {
                    "location": {
                        "x": 2185.00537109375,
                        "y": 2505.9892578125,
                        "z": 365.1092529296875
                    },
                    "rotation": {
                        "roll": 0.0001431152777513489,
                        "pitch": 0.2592398226261139,
                        "yaw": 90.0924072265625
                    }
                },
                "velocity": {
                    "x": -0.0036894672084599733,
                    "y": 2.289680242538452,
                    "z": 0.00976325012743473
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.6698567271232605,
                "transform": {
                    "location": {
                        "x": 2210.424560546875,
                        "y": 2524.288330078125,
                        "z": 365.77105712890625
                    },
                    "rotation": {
                        "roll": -0.004058837424963713,
                        "pitch": -1.46365487575531,
                        "yaw": -179.8910675048828
                    }
                },
                "velocity": {
                    "x": -0.6695973873138428,
                    "y": 0.0021804324351251125,
                    "z": -0.018508728593587875
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.863645076751709,
                "transform": {
                    "location": {
                        "x": 2153.625732421875,
                        "y": 2527.368896484375,
                        "z": 364.731201171875
                    },
                    "rotation": {
                        "roll": -0.00012207032705191523,
                        "pitch": -0.022368868812918663,
                        "yaw": -1.04608154296875
                    }
                },
                "velocity": {
                    "x": 1.863614559173584,
                    "y": -0.010625550523400307,
                    "z": 0.0007913970621302724
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": 0.6650399565696716,
        "expert_target_speed": 2.3865329284112033,
        "target_point": [
            27.256068699269797,
            18.118579953663936
        ],
        "target_point_next": [
            27.256068699269797,
            18.118579953663936
        ]
    },
    "460": {
        "acceleration": [
            1.6921138763427734,
            -1.40794038772583,
            0.07374569773674011
        ],
        "angular_velocity": [
            0.16657520830631256,
            -1.214618444442749,
            22.03823471069336
        ],
        "forward_vector": [
            -0.870649516582489,
            0.4915485978126526,
            -0.018690571188926697
        ],
        "right_vector": [
            -0.49159112572669983,
            -0.8708223700523376,
            -0.002565705683082342
        ],
        "location": [
            2180.2431640625,
            2523.78369140625,
            365.0614013671875
        ],
        "rotation": [
            0.14702995121479034,
            -1.070953130722046,
            150.5519256591797
        ],
        "velocity": [
            -2.4798898696899414,
            0.7294376492500305,
            -0.04670683294534683
        ],
        "speed": 2.5849435293511163,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 12.660229682922363,
        "front_vehicle_info": {
            "id": 48779,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2168.091552734375,
                2527.3310546875,
                364.8717346191406
            ],
            "velocity": [
                4.251285552978516,
                -0.009523320943117142,
                0.0631633922457695
            ],
            "speed_kmh": 15.306355501000363,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 48788,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.363159656524658,
                "transform": {
                    "location": {
                        "x": 2140.475830078125,
                        "y": 2527.3369140625,
                        "z": 364.7825012207031
                    },
                    "rotation": {
                        "roll": -0.0006103514460846782,
                        "pitch": -0.20562966167926788,
                        "yaw": 0.3411986529827118
                    }
                },
                "velocity": {
                    "x": 5.363030433654785,
                    "y": 0.03154459968209267,
                    "z": -0.01983479969203472
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48787,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.181029796600342,
                "transform": {
                    "location": {
                        "x": 2231.669677734375,
                        "y": 2524.29248046875,
                        "z": 366.40069580078125
                    },
                    "rotation": {
                        "roll": -0.022460930049419403,
                        "pitch": -1.7116657495498657,
                        "yaw": -179.38975524902344
                    }
                },
                "velocity": {
                    "x": -2.1799468994140625,
                    "y": -0.0197368785738945,
                    "z": -0.06582411378622055
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.137878894805908,
                "transform": {
                    "location": {
                        "x": 2185.057373046875,
                        "y": 2460.321533203125,
                        "z": 364.7743225097656
                    },
                    "rotation": {
                        "roll": 0.0014638606226071715,
                        "pitch": 0.8797010183334351,
                        "yaw": 90.17213439941406
                    }
                },
                "velocity": {
                    "x": -0.011274232529103756,
                    "y": 4.137651443481445,
                    "z": 0.041860103607177734
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0031832391396164894,
                "transform": {
                    "location": {
                        "x": 2220.84423828125,
                        "y": 2524.270751953125,
                        "z": 366.0697326660156
                    },
                    "rotation": {
                        "roll": -0.0025024411734193563,
                        "pitch": -1.7353187799453735,
                        "yaw": 179.9444122314453
                    }
                },
                "velocity": {
                    "x": -0.003139863256365061,
                    "y": 1.6037454770412296e-05,
                    "z": 0.0005234623095020652
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48786,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.5441590547561646,
                "transform": {
                    "location": {
                        "x": 2187.87158203125,
                        "y": 2564.98486328125,
                        "z": 365.1114501953125
                    },
                    "rotation": {
                        "roll": 0.0028206126298755407,
                        "pitch": 0.2977757453918457,
                        "yaw": -89.57840728759766
                    }
                },
                "velocity": {
                    "x": 0.00759511673822999,
                    "y": -1.54412841796875,
                    "z": 0.006053762510418892
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.251765727996826,
                "transform": {
                    "location": {
                        "x": 2168.091552734375,
                        "y": 2527.3310546875,
                        "z": 364.8717346191406
                    },
                    "rotation": {
                        "roll": -0.0001220703707076609,
                        "pitch": 0.94487464427948,
                        "yaw": -0.1268005520105362
                    }
                },
                "velocity": {
                    "x": 4.251285552978516,
                    "y": -0.009523320943117142,
                    "z": 0.0631633922457695
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0017631211085245013,
                "transform": {
                    "location": {
                        "x": 2185.0263671875,
                        "y": 2484.2861328125,
                        "z": 364.9819030761719
                    },
                    "rotation": {
                        "roll": -0.0012206765823066235,
                        "pitch": 0.5032892823219299,
                        "yaw": 89.87645721435547
                    }
                },
                "velocity": {
                    "x": 2.8131027647759765e-05,
                    "y": -0.0009905040496960282,
                    "z": -0.0014583230949938297
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48789,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.1630859375,
                        "y": 2447.165771484375,
                        "z": 364.6511535644531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6438136100769043,
                        "yaw": 90.06040954589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.6006455421447754,
                "transform": {
                    "location": {
                        "x": 2198.951416015625,
                        "y": 2524.3134765625,
                        "z": 365.4697265625
                    },
                    "rotation": {
                        "roll": -0.00027465797029435635,
                        "pitch": -1.3964184522628784,
                        "yaw": 179.8265838623047
                    }
                },
                "velocity": {
                    "x": -2.5998315811157227,
                    "y": 0.006047033704817295,
                    "z": -0.06478223949670792
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0006755689973942935,
                "transform": {
                    "location": {
                        "x": 2187.8759765625,
                        "y": 2539.953125,
                        "z": 365.16900634765625
                    },
                    "rotation": {
                        "roll": 0.0007211394258774817,
                        "pitch": -0.021610718220472336,
                        "yaw": -91.38713836669922
                    }
                },
                "velocity": {
                    "x": -5.0471317081246525e-05,
                    "y": 3.486016794340685e-05,
                    "z": 0.0006727785221301019
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.120898962020874,
                "transform": {
                    "location": {
                        "x": 2185.037841796875,
                        "y": 2473.388671875,
                        "z": 364.8840026855469
                    },
                    "rotation": {
                        "roll": 0.0021224382799118757,
                        "pitch": 0.3950513005256653,
                        "yaw": 90.2944107055664
                    }
                },
                "velocity": {
                    "x": -0.0008041039691306651,
                    "y": 1.1207945346832275,
                    "z": 0.015279407612979412
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0001947252603713423,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.78143310546875
                    },
                    "rotation": {
                        "roll": 0.0029446317348629236,
                        "pitch": 0.2176986038684845,
                        "yaw": -179.82423400878906
                    }
                },
                "velocity": {
                    "x": 7.447712050634436e-06,
                    "y": 1.5634901501471177e-05,
                    "z": -0.0001939536159625277
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0004916246398352087,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0011719489702954888,
                        "pitch": 0.21981596946716309,
                        "yaw": 179.87493896484375
                    }
                },
                "velocity": {
                    "x": 5.4188072681427e-05,
                    "y": 1.268606138182804e-05,
                    "z": -0.0004884644295088947
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.2211153507232666,
                "transform": {
                    "location": {
                        "x": 2187.900146484375,
                        "y": 2551.20068359375,
                        "z": 365.1560974121094
                    },
                    "rotation": {
                        "roll": -0.0031127966940402985,
                        "pitch": 0.30724239349365234,
                        "yaw": -90.05926513671875
                    }
                },
                "velocity": {
                    "x": 0.0025429951492697,
                    "y": -2.22111177444458,
                    "z": 0.0031245232094079256
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.129990577697754,
                "transform": {
                    "location": {
                        "x": 2185.0166015625,
                        "y": 2495.322998046875,
                        "z": 365.05401611328125
                    },
                    "rotation": {
                        "roll": 0.000929969479329884,
                        "pitch": 0.2638775110244751,
                        "yaw": 90.12899780273438
                    }
                },
                "velocity": {
                    "x": -0.0034083116333931684,
                    "y": 2.1299524307250977,
                    "z": 0.012266721576452255
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.095043182373047,
                "transform": {
                    "location": {
                        "x": 2185.0048828125,
                        "y": 2506.532958984375,
                        "z": 365.111328125
                    },
                    "rotation": {
                        "roll": 0.00021385909349191934,
                        "pitch": 0.2568219304084778,
                        "yaw": 90.09364318847656
                    }
                },
                "velocity": {
                    "x": -0.0034198923967778683,
                    "y": 2.095022201538086,
                    "z": 0.008744773454964161
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.5777461528778076,
                "transform": {
                    "location": {
                        "x": 2210.13720703125,
                        "y": 2524.28857421875,
                        "z": 365.763427734375
                    },
                    "rotation": {
                        "roll": -0.002960204379633069,
                        "pitch": -1.4092046022415161,
                        "yaw": -179.92230224609375
                    }
                },
                "velocity": {
                    "x": -1.5771905183792114,
                    "y": 0.002354629337787628,
                    "z": -0.041800644248723984
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.3289077281951904,
                "transform": {
                    "location": {
                        "x": 2154.07080078125,
                        "y": 2527.358642578125,
                        "z": 364.7308654785156
                    },
                    "rotation": {
                        "roll": -0.0014648436335846782,
                        "pitch": -0.011051245033740997,
                        "yaw": -0.2123718112707138
                    }
                },
                "velocity": {
                    "x": 2.3288893699645996,
                    "y": -0.008998828008770943,
                    "z": -0.0020958709064871073
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": 0.5448571443557739,
        "expert_target_speed": 1.6197457272133238,
        "target_point": [
            28.295050249261767,
            15.12270213166694
        ],
        "target_point_next": [
            28.295050249261767,
            15.12270213166694
        ]
    },
    "465": {
        "acceleration": [
            1.656193733215332,
            -1.3469332456588745,
            -0.0021720677614212036
        ],
        "angular_velocity": [
            -0.16635912656784058,
            -0.3432596027851105,
            18.786680221557617
        ],
        "forward_vector": [
            -0.9106605052947998,
            0.41256651282310486,
            -0.02205347828567028
        ],
        "right_vector": [
            -0.4125772714614868,
            -0.9109125733375549,
            -0.004271309822797775
        ],
        "location": [
            2179.691162109375,
            2523.936279296875,
            365.05181884765625
        ],
        "rotation": [
            0.2447883039712906,
            -1.2636736631393433,
            155.62753295898438
        ],
        "velocity": [
            -2.035916328430176,
            0.3859405815601349,
            -0.0411597341299057
        ],
        "speed": 2.072174082663805,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 11.113383293151855,
        "front_vehicle_info": {
            "id": 48779,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2169.109619140625,
                2527.3291015625,
                364.8875732421875
            ],
            "velocity": [
                4.169559955596924,
                -0.009221012704074383,
                0.07120528817176819
            ],
            "speed_kmh": 15.012641184921263,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 48788,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.146626949310303,
                "transform": {
                    "location": {
                        "x": 2141.9287109375,
                        "y": 2527.344970703125,
                        "z": 364.77679443359375
                    },
                    "rotation": {
                        "roll": -0.00189208984375,
                        "pitch": -0.19905902445316315,
                        "yaw": 0.3521544635295868
                    }
                },
                "velocity": {
                    "x": 6.146475315093994,
                    "y": 0.03661671653389931,
                    "z": -0.022934449836611748
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48787,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.694309651851654,
                "transform": {
                    "location": {
                        "x": 2231.48828125,
                        "y": 2524.29150390625,
                        "z": 366.3949279785156
                    },
                    "rotation": {
                        "roll": -0.0209655724465847,
                        "pitch": -1.9004453420639038,
                        "yaw": -179.4539337158203
                    }
                },
                "velocity": {
                    "x": -0.6939588189125061,
                    "y": -0.0034416699782013893,
                    "z": -0.021799469366669655
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.40161657333374,
                "transform": {
                    "location": {
                        "x": 2185.0537109375,
                        "y": 2461.537841796875,
                        "z": 364.78662109375
                    },
                    "rotation": {
                        "roll": 0.002373891184106469,
                        "pitch": 0.859674870967865,
                        "yaw": 90.14706420898438
                    }
                },
                "velocity": {
                    "x": -0.010978157632052898,
                    "y": 5.401322364807129,
                    "z": 0.05530921742320061
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.5177074670791626,
                "transform": {
                    "location": {
                        "x": 2220.7900390625,
                        "y": 2524.27099609375,
                        "z": 366.0681457519531
                    },
                    "rotation": {
                        "roll": -0.0033264157827943563,
                        "pitch": -1.6624064445495605,
                        "yaw": 179.94296264648438
                    }
                },
                "velocity": {
                    "x": -0.5175032615661621,
                    "y": 1.3448740901367273e-05,
                    "z": -0.014539575204253197
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48786,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.3673582077026367,
                "transform": {
                    "location": {
                        "x": 2187.874267578125,
                        "y": 2564.470458984375,
                        "z": 365.1136779785156
                    },
                    "rotation": {
                        "roll": 0.001973175210878253,
                        "pitch": 0.35464388132095337,
                        "yaw": -89.52069854736328
                    }
                },
                "velocity": {
                    "x": 0.011728014796972275,
                    "y": -2.367307662963867,
                    "z": 0.010090513154864311
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.170178413391113,
                "transform": {
                    "location": {
                        "x": 2169.109619140625,
                        "y": 2527.3291015625,
                        "z": 364.8875732421875
                    },
                    "rotation": {
                        "roll": -0.0016174315242096782,
                        "pitch": 0.9769697189331055,
                        "yaw": -0.126800537109375
                    }
                },
                "velocity": {
                    "x": 4.169559955596924,
                    "y": -0.009221012704074383,
                    "z": 0.07120528817176819
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.011752994731068611,
                "transform": {
                    "location": {
                        "x": 2185.0263671875,
                        "y": 2484.2841796875,
                        "z": 364.9822692871094
                    },
                    "rotation": {
                        "roll": -3.052338070119731e-05,
                        "pitch": 0.4574245810508728,
                        "yaw": 89.8761215209961
                    }
                },
                "velocity": {
                    "x": 0.00012922973837703466,
                    "y": -0.011607367545366287,
                    "z": -0.0018398857209831476
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48789,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.16162109375,
                        "y": 2448.415771484375,
                        "z": 364.6590881347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6438136100769043,
                        "yaw": 90.06040954589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.1832876205444336,
                "transform": {
                    "location": {
                        "x": 2198.224853515625,
                        "y": 2524.315673828125,
                        "z": 365.4518127441406
                    },
                    "rotation": {
                        "roll": 0.0005403000395745039,
                        "pitch": -1.3945332765579224,
                        "yaw": 179.84078979492188
                    }
                },
                "velocity": {
                    "x": -3.182344675064087,
                    "y": 0.007303808815777302,
                    "z": -0.077131487429142
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00010050582932308316,
                "transform": {
                    "location": {
                        "x": 2187.8759765625,
                        "y": 2539.953125,
                        "z": 365.16900634765625
                    },
                    "rotation": {
                        "roll": 0.0002138411218766123,
                        "pitch": -0.02057252824306488,
                        "yaw": -91.38713836669922
                    }
                },
                "velocity": {
                    "x": 1.5366873412858695e-05,
                    "y": -5.419726676336722e-07,
                    "z": 9.93226349237375e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.9876466989517212,
                "transform": {
                    "location": {
                        "x": 2185.034912109375,
                        "y": 2473.76220703125,
                        "z": 364.886474609375
                    },
                    "rotation": {
                        "roll": 0.0012043240712955594,
                        "pitch": 0.520596981048584,
                        "yaw": 90.09757995605469
                    }
                },
                "velocity": {
                    "x": -0.0018036389956250787,
                    "y": 1.9875752925872803,
                    "z": 0.016758833080530167
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00022987915144767612,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.78143310546875
                    },
                    "rotation": {
                        "roll": 0.0027552717365324497,
                        "pitch": 0.21778057515621185,
                        "yaw": -179.82423400878906
                    }
                },
                "velocity": {
                    "x": 8.584931492805481e-06,
                    "y": -1.3604491869045887e-05,
                    "z": -0.00022931559942662716
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0002739891642704606,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0011719489702954888,
                        "pitch": 0.21981596946716309,
                        "yaw": 179.87493896484375
                    }
                },
                "velocity": {
                    "x": -3.836862561001908e-06,
                    "y": 4.5657366172235925e-06,
                    "z": -0.0002739242627285421
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.9012378454208374,
                "transform": {
                    "location": {
                        "x": 2187.900146484375,
                        "y": 2550.615234375,
                        "z": 365.1570739746094
                    },
                    "rotation": {
                        "roll": -0.000732425891328603,
                        "pitch": 0.11732898652553558,
                        "yaw": -89.88878631591797
                    }
                },
                "velocity": {
                    "x": -0.0003631173458416015,
                    "y": -1.9012306928634644,
                    "z": 0.005207996349781752
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.0484025478363037,
                "transform": {
                    "location": {
                        "x": 2185.0146484375,
                        "y": 2495.974365234375,
                        "z": 365.0579528808594
                    },
                    "rotation": {
                        "roll": 0.00029270059894770384,
                        "pitch": 0.25976574420928955,
                        "yaw": 90.12164306640625
                    }
                },
                "velocity": {
                    "x": -0.004857153631746769,
                    "y": 3.048344612121582,
                    "z": 0.01814589463174343
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9365715980529785,
                "transform": {
                    "location": {
                        "x": 2185.0048828125,
                        "y": 2507.050048828125,
                        "z": 365.11346435546875
                    },
                    "rotation": {
                        "roll": 0.0008980975253507495,
                        "pitch": 0.2385033667087555,
                        "yaw": 90.09253692626953
                    }
                },
                "velocity": {
                    "x": -0.0032539390958845615,
                    "y": 1.9365535974502563,
                    "z": 0.007687997538596392
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.748929977416992,
                "transform": {
                    "location": {
                        "x": 2209.59814453125,
                        "y": 2524.28955078125,
                        "z": 365.7491455078125
                    },
                    "rotation": {
                        "roll": 0.0018946354975923896,
                        "pitch": -1.3670964241027832,
                        "yaw": 179.9281005859375
                    }
                },
                "velocity": {
                    "x": -2.7479469776153564,
                    "y": 0.005839040037244558,
                    "z": -0.07327467203140259
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.599109649658203,
                "transform": {
                    "location": {
                        "x": 2154.810546875,
                        "y": 2527.355712890625,
                        "z": 364.7298889160156
                    },
                    "rotation": {
                        "roll": -0.0014343259390443563,
                        "pitch": 0.031002227216959,
                        "yaw": -0.1052856296300888
                    }
                },
                "velocity": {
                    "x": 3.5990920066833496,
                    "y": -0.010884038172662258,
                    "z": -0.002735786372795701
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": 0.4073886573314667,
        "expert_target_speed": 0.5943038446784368,
        "target_point": [
            28.95623016601629,
            12.471336184644462
        ],
        "target_point_next": [
            28.95623016601629,
            12.471336184644462
        ]
    },
    "470": {
        "acceleration": [
            1.8979907035827637,
            -0.2781084179878235,
            0.08026719093322754
        ],
        "angular_velocity": [
            0.462529718875885,
            -0.25441035628318787,
            12.870473861694336
        ],
        "forward_vector": [
            -0.9369134306907654,
            0.34882065653800964,
            -0.022746151313185692
        ],
        "right_vector": [
            -0.34878405928611755,
            -0.9371858835220337,
            -0.0056860544718801975
        ],
        "location": [
            2179.247314453125,
            2524.02392578125,
            365.0428161621094
        ],
        "rotation": [
            0.3258729875087738,
            -1.3033708333969116,
            159.57928466796875
        ],
        "velocity": [
            -1.590319037437439,
            0.2195294350385666,
            -0.031756337732076645
        ],
        "speed": 1.6053995806914534,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.73921012878418,
        "front_vehicle_info": {
            "id": 48779,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2170.08642578125,
                2527.3271484375,
                364.90478515625
            ],
            "velocity": [
                3.3668527603149414,
                -0.00754808122292161,
                0.057520121335983276
            ],
            "speed_kmh": 12.122469100640172,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 48788,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.1941564083099365,
                "transform": {
                    "location": {
                        "x": 2143.22021484375,
                        "y": 2527.3525390625,
                        "z": 364.7722473144531
                    },
                    "rotation": {
                        "roll": -0.002716064453125,
                        "pitch": -0.2718483507633209,
                        "yaw": 0.35418835282325745
                    }
                },
                "velocity": {
                    "x": 3.1940701007843018,
                    "y": 0.019363194704055786,
                    "z": -0.01332881860435009
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48787,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.6307610273361206,
                "transform": {
                    "location": {
                        "x": 2231.18310546875,
                        "y": 2524.2900390625,
                        "z": 366.3857727050781
                    },
                    "rotation": {
                        "roll": -0.0168762244284153,
                        "pitch": -1.6806020736694336,
                        "yaw": -179.52879333496094
                    }
                },
                "velocity": {
                    "x": -1.629964828491211,
                    "y": -0.007393683772534132,
                    "z": -0.05041363462805748
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.17843934893608093,
                "transform": {
                    "location": {
                        "x": 2185.051513671875,
                        "y": 2462.31396484375,
                        "z": 364.793701171875
                    },
                    "rotation": {
                        "roll": 0.006634049583226442,
                        "pitch": -0.16918377578258514,
                        "yaw": 89.9448471069336
                    }
                },
                "velocity": {
                    "x": -0.002391076646745205,
                    "y": 0.17842145264148712,
                    "z": 0.000817956926766783
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.6451038122177124,
                "transform": {
                    "location": {
                        "x": 2220.513916015625,
                        "y": 2524.271240234375,
                        "z": 366.0600280761719
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -1.5354264974594116,
                        "yaw": 179.93862915039062
                    }
                },
                "velocity": {
                    "x": -1.6444110870361328,
                    "y": 0.0010457218158990145,
                    "z": -0.04772479832172394
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48786,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0008132749353535473,
                "transform": {
                    "location": {
                        "x": 2187.87548828125,
                        "y": 2564.15869140625,
                        "z": 365.1144104003906
                    },
                    "rotation": {
                        "roll": -0.0021667496766895056,
                        "pitch": -0.04623354971408844,
                        "yaw": -89.41353607177734
                    }
                },
                "velocity": {
                    "x": -0.0002765144163277,
                    "y": 0.0004410891851875931,
                    "z": 0.0006248169811442494
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.3673524856567383,
                "transform": {
                    "location": {
                        "x": 2170.08642578125,
                        "y": 2527.3271484375,
                        "z": 364.90478515625
                    },
                    "rotation": {
                        "roll": -0.00027465829043649137,
                        "pitch": 0.9142071008682251,
                        "yaw": -0.1246337890625
                    }
                },
                "velocity": {
                    "x": 3.3668527603149414,
                    "y": -0.00754808122292161,
                    "z": 0.057520121335983276
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.12360209971666336,
                "transform": {
                    "location": {
                        "x": 2185.026611328125,
                        "y": 2484.290283203125,
                        "z": 364.9825439453125
                    },
                    "rotation": {
                        "roll": -0.0011596819385886192,
                        "pitch": 0.41645708680152893,
                        "yaw": 89.88937377929688
                    }
                },
                "velocity": {
                    "x": 0.00021213109721429646,
                    "y": 0.12360182404518127,
                    "z": -0.00015115737915039062
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48789,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.16064453125,
                        "y": 2449.249267578125,
                        "z": 364.6643981933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6438136100769043,
                        "yaw": 90.06040954589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.8831121921539307,
                "transform": {
                    "location": {
                        "x": 2197.4599609375,
                        "y": 2524.317626953125,
                        "z": 365.433349609375
                    },
                    "rotation": {
                        "roll": -0.01348876766860485,
                        "pitch": -1.4114652872085571,
                        "yaw": 179.8534393310547
                    }
                },
                "velocity": {
                    "x": -2.882261037826538,
                    "y": 0.006354040466248989,
                    "z": -0.06976468861103058
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0007838470628485084,
                "transform": {
                    "location": {
                        "x": 2187.8759765625,
                        "y": 2539.953125,
                        "z": 365.16900634765625
                    },
                    "rotation": {
                        "roll": 0.0002138411218766123,
                        "pitch": -0.02057252824306488,
                        "yaw": -91.38713836669922
                    }
                },
                "velocity": {
                    "x": 2.681536443560617e-06,
                    "y": -4.222545612719841e-06,
                    "z": 0.0007838311139494181
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.7552870512008667,
                "transform": {
                    "location": {
                        "x": 2185.03955078125,
                        "y": 2474.18896484375,
                        "z": 364.8902893066406
                    },
                    "rotation": {
                        "roll": 0.004039695020765066,
                        "pitch": 0.48602256178855896,
                        "yaw": 90.5566177368164
                    }
                },
                "velocity": {
                    "x": 0.0009797733509913087,
                    "y": 1.755226969718933,
                    "z": 0.014482507482171059
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0004636186931747943,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.0027677202597260475,
                        "pitch": 0.2175961583852768,
                        "yaw": -179.82421875
                    }
                },
                "velocity": {
                    "x": 3.4090503504558e-06,
                    "y": -1.9945058738812804e-05,
                    "z": -0.00046317692613229156
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0011719489702954888,
                        "pitch": 0.21981596946716309,
                        "yaw": 179.87493896484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.9379079341888428,
                "transform": {
                    "location": {
                        "x": 2187.900390625,
                        "y": 2550.4765625,
                        "z": 365.1573791503906
                    },
                    "rotation": {
                        "roll": -0.0017700196476653218,
                        "pitch": -0.004337169695645571,
                        "yaw": -89.78216552734375
                    }
                },
                "velocity": {
                    "x": 0.0011896993964910507,
                    "y": -0.9379041790962219,
                    "z": 0.002363224048167467
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.073094367980957,
                "transform": {
                    "location": {
                        "x": 2185.012451171875,
                        "y": 2496.871337890625,
                        "z": 365.0632019042969
                    },
                    "rotation": {
                        "roll": -0.0003662051458377391,
                        "pitch": 0.23105162382125854,
                        "yaw": 90.10772705078125
                    }
                },
                "velocity": {
                    "x": -0.004941417835652828,
                    "y": 4.073030471801758,
                    "z": 0.022259626537561417
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.794663667678833,
                "transform": {
                    "location": {
                        "x": 2185.0048828125,
                        "y": 2507.53515625,
                        "z": 365.1154479980469
                    },
                    "rotation": {
                        "roll": 0.00014856437337584794,
                        "pitch": 0.22057411074638367,
                        "yaw": 90.09304809570312
                    }
                },
                "velocity": {
                    "x": -0.002893716562539339,
                    "y": 1.794650673866272,
                    "z": 0.006193876266479492
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.244463920593262,
                "transform": {
                    "location": {
                        "x": 2208.709716796875,
                        "y": 2524.291748046875,
                        "z": 365.7254943847656
                    },
                    "rotation": {
                        "roll": 0.0009635395836085081,
                        "pitch": -1.3117650747299194,
                        "yaw": 179.9020233154297
                    }
                },
                "velocity": {
                    "x": -4.242941379547119,
                    "y": 0.009090987034142017,
                    "z": -0.11331681907176971
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.128976821899414,
                "transform": {
                    "location": {
                        "x": 2155.900634765625,
                        "y": 2527.351806640625,
                        "z": 364.7288513183594
                    },
                    "rotation": {
                        "roll": 4.54694454674609e-05,
                        "pitch": 0.05230558663606644,
                        "yaw": 0.18342582881450653
                    }
                },
                "velocity": {
                    "x": 5.128973484039307,
                    "y": -0.005609814543277025,
                    "z": 0.001127214403823018
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": 0.3936014771461487,
        "expert_target_speed": 0.0,
        "target_point": [
            29.300335126822084,
            10.373384298379708
        ],
        "target_point_next": [
            29.300335126822084,
            10.373384298379708
        ]
    },
    "475": {
        "acceleration": [
            1.1308789253234863,
            -0.7554768323898315,
            0.02249985933303833
        ],
        "angular_velocity": [
            -0.40334552526474,
            0.21005655825138092,
            10.745194435119629
        ],
        "forward_vector": [
            -0.9532676935195923,
            0.30127179622650146,
            -0.022714806720614433
        ],
        "right_vector": [
            -0.30122077465057373,
            -0.9535373449325562,
            -0.0057168276980519295
        ],
        "location": [
            2178.902099609375,
            2524.071044921875,
            365.0358581542969
        ],
        "rotation": [
            0.3276364505290985,
            -1.301574468612671,
            162.46131896972656
        ],
        "velocity": [
            -1.231671690940857,
            0.08250056952238083,
            -0.02517368271946907
        ],
        "speed": 1.2344316498845236,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.793100357055664,
        "front_vehicle_info": {
            "id": 48779,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2170.734375,
                2527.32568359375,
                364.9165954589844
            ],
            "velocity": [
                1.386858344078064,
                -0.003005746752023697,
                0.02386360988020897
            ],
            "speed_kmh": 4.993440824237318,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 48788,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.20167885720729828,
                "transform": {
                    "location": {
                        "x": 2143.4638671875,
                        "y": 2527.35400390625,
                        "z": 364.7715148925781
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": -0.29858168959617615,
                        "yaw": 0.35415536165237427
                    }
                },
                "velocity": {
                    "x": 0.20167699456214905,
                    "y": -0.0008592937956564128,
                    "z": -0.00010865211515920237
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48787,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.4919402599334717,
                "transform": {
                    "location": {
                        "x": 2230.65234375,
                        "y": 2524.287841796875,
                        "z": 366.3692932128906
                    },
                    "rotation": {
                        "roll": -0.015350340865552425,
                        "pitch": -1.6481313705444336,
                        "yaw": -179.5968017578125
                    }
                },
                "velocity": {
                    "x": -2.490724802017212,
                    "y": -0.010578733868896961,
                    "z": -0.07709888368844986
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.7010952234268188,
                "transform": {
                    "location": {
                        "x": 2185.051513671875,
                        "y": 2462.51806640625,
                        "z": 364.7958984375
                    },
                    "rotation": {
                        "roll": 0.000731796317268163,
                        "pitch": 0.5386423468589783,
                        "yaw": 89.93447875976562
                    }
                },
                "velocity": {
                    "x": -0.002212899038568139,
                    "y": 1.7010083198547363,
                    "z": 0.01704481989145279
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.1359477043151855,
                "transform": {
                    "location": {
                        "x": 2219.91943359375,
                        "y": 2524.272216796875,
                        "z": 366.04241943359375
                    },
                    "rotation": {
                        "roll": 2.6483692636247724e-05,
                        "pitch": -1.4227283000946045,
                        "yaw": 179.91966247558594
                    }
                },
                "velocity": {
                    "x": -3.1345601081848145,
                    "y": 0.0054327319376170635,
                    "z": -0.09311479330062866
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48786,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.0543673038482666,
                "transform": {
                    "location": {
                        "x": 2187.87646484375,
                        "y": 2563.998779296875,
                        "z": 365.11553955078125
                    },
                    "rotation": {
                        "roll": 0.0013223501155152917,
                        "pitch": 0.27177321910858154,
                        "yaw": -89.44879150390625
                    }
                },
                "velocity": {
                    "x": 0.0067192669957876205,
                    "y": -1.0543419122695923,
                    "z": 0.0029132175259292126
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.3870669603347778,
                "transform": {
                    "location": {
                        "x": 2170.734375,
                        "y": 2527.32568359375,
                        "z": 364.9165954589844
                    },
                    "rotation": {
                        "roll": -0.0003662109957076609,
                        "pitch": 0.8154289126396179,
                        "yaw": -0.1242675855755806
                    }
                },
                "velocity": {
                    "x": 1.386858344078064,
                    "y": -0.003005746752023697,
                    "z": 0.02386360988020897
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.9238808155059814,
                "transform": {
                    "location": {
                        "x": 2185.027099609375,
                        "y": 2484.45361328125,
                        "z": 364.9824523925781
                    },
                    "rotation": {
                        "roll": -0.002685575047507882,
                        "pitch": 0.5788106918334961,
                        "yaw": 89.97222900390625
                    }
                },
                "velocity": {
                    "x": -0.00039605656638741493,
                    "y": 0.9238604307174683,
                    "z": 0.0061262319795787334
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48789,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.159423828125,
                        "y": 2450.499267578125,
                        "z": 364.6724853515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6438136100769043,
                        "yaw": 90.06040954589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48776,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.771272659301758,
                "transform": {
                    "location": {
                        "x": 2196.760986328125,
                        "y": 2524.319091796875,
                        "z": 365.4163513183594
                    },
                    "rotation": {
                        "roll": 0.03304030001163483,
                        "pitch": -1.402982234954834,
                        "yaw": 179.86373901367188
                    }
                },
                "velocity": {
                    "x": -2.7703630924224854,
                    "y": 0.00395511370152235,
                    "z": -0.07088973373174667
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00021482245938386768,
                "transform": {
                    "location": {
                        "x": 2187.8759765625,
                        "y": 2539.953125,
                        "z": 365.16900634765625
                    },
                    "rotation": {
                        "roll": 0.0002138411218766123,
                        "pitch": -0.02057252824306488,
                        "yaw": -91.38713836669922
                    }
                },
                "velocity": {
                    "x": -1.1483167327241972e-05,
                    "y": 6.214873792487197e-06,
                    "z": 0.00021442527940962464
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0008475412614643574,
                "transform": {
                    "location": {
                        "x": 2185.03955078125,
                        "y": 2474.462158203125,
                        "z": 364.89300537109375
                    },
                    "rotation": {
                        "roll": 0.0018035962712019682,
                        "pitch": 0.37958773970603943,
                        "yaw": 90.69791412353516
                    }
                },
                "velocity": {
                    "x": -0.00020300838514231145,
                    "y": -8.342668297700584e-05,
                    "z": -0.0008186292252503335
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.205600165121723e-05,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.0027677202597260475,
                        "pitch": 0.2175961583852768,
                        "yaw": -179.82421875
                    }
                },
                "velocity": {
                    "x": 1.077432170859538e-05,
                    "y": -4.294761765777366e-06,
                    "z": -3.2887978704820853e-06
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0005566053441725671,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0011719489702954888,
                        "pitch": 0.21981596946716309,
                        "yaw": 179.87493896484375
                    }
                },
                "velocity": {
                    "x": -3.640256909420714e-05,
                    "y": -9.699772635940462e-05,
                    "z": -0.0005468782037496567
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0020862130913883448,
                "transform": {
                    "location": {
                        "x": 2187.900390625,
                        "y": 2550.38623046875,
                        "z": 365.15753173828125
                    },
                    "rotation": {
                        "roll": -0.0010070782154798508,
                        "pitch": -0.05472347140312195,
                        "yaw": -89.72350311279297
                    }
                },
                "velocity": {
                    "x": 0.00020511321781668812,
                    "y": 0.0020237192511558533,
                    "z": 0.000463436939753592
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.1550722122192383,
                "transform": {
                    "location": {
                        "x": 2185.0107421875,
                        "y": 2497.802490234375,
                        "z": 365.0671081542969
                    },
                    "rotation": {
                        "roll": -0.00012207881081849337,
                        "pitch": 0.36886435747146606,
                        "yaw": 90.09617614746094
                    }
                },
                "velocity": {
                    "x": -0.0038367013912647963,
                    "y": 3.1550211906433105,
                    "z": 0.017552146688103676
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.6816456913948059,
                "transform": {
                    "location": {
                        "x": 2185.0048828125,
                        "y": 2507.671142578125,
                        "z": 365.1155700683594
                    },
                    "rotation": {
                        "roll": 0.0010215117363259196,
                        "pitch": 0.27385643124580383,
                        "yaw": 90.10639190673828
                    }
                },
                "velocity": {
                    "x": -0.0012612369609996676,
                    "y": 0.6816408634185791,
                    "z": 0.002230472629889846
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.364495277404785,
                "transform": {
                    "location": {
                        "x": 2207.725341796875,
                        "y": 2524.29345703125,
                        "z": 365.6989440917969
                    },
                    "rotation": {
                        "roll": -0.0006713866023346782,
                        "pitch": -1.578210711479187,
                        "yaw": 179.89291381835938
                    }
                },
                "velocity": {
                    "x": -3.363271713256836,
                    "y": 0.006366489455103874,
                    "z": -0.09050261229276657
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.419790744781494,
                "transform": {
                    "location": {
                        "x": 2157.30078125,
                        "y": 2527.350830078125,
                        "z": 364.7320861816406
                    },
                    "rotation": {
                        "roll": 0.0008362220251001418,
                        "pitch": 0.22446049749851227,
                        "yaw": 0.12497803568840027
                    }
                },
                "velocity": {
                    "x": 6.419748783111572,
                    "y": -0.007216293830424547,
                    "z": 0.021971186622977257
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": 0.3151378631591797,
        "expert_target_speed": 0.0,
        "target_point": [
            29.44147680884978,
            8.827959462725646
        ],
        "target_point_next": [
            29.44147680884978,
            8.827959462725646
        ]
    },
    "480": {
        "acceleration": [
            0.8816146850585938,
            0.19525903463363647,
            0.003197193145751953
        ],
        "angular_velocity": [
            0.3388211131095886,
            0.07864084839820862,
            8.181788444519043
        ],
        "forward_vector": [
            -0.9647912979125977,
            0.26207900047302246,
            -0.022186007350683212
        ],
        "right_vector": [
            -0.2620251178741455,
            -0.9650461673736572,
            -0.005353723652660847
        ],
        "location": [
            2178.633056640625,
            2524.092529296875,
            365.03033447265625
        ],
        "rotation": [
            0.3068227767944336,
            -1.2712688446044922,
            164.80271911621094
        ],
        "velocity": [
            -0.9783309698104858,
            0.03272363543510437,
            -0.020736046135425568
        ],
        "speed": 0.9788780939455206,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.504401206970215,
        "front_vehicle_info": {
            "id": 48779,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2170.767822265625,
                2527.3251953125,
                364.9172058105469
            ],
            "velocity": [
                -0.0012476861011236906,
                0.0001877688046079129,
                0.0020601004362106323
            ],
            "speed_kmh": 0.008696806904549784,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 48788,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.9592005014419556,
                "transform": {
                    "location": {
                        "x": 2143.615234375,
                        "y": 2527.35400390625,
                        "z": 364.770263671875
                    },
                    "rotation": {
                        "roll": -0.0010070799617096782,
                        "pitch": -0.21511679887771606,
                        "yaw": 0.3694368302822113
                    }
                },
                "velocity": {
                    "x": 0.959194540977478,
                    "y": 0.001390627003274858,
                    "z": -0.0031018543522804976
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48787,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0027481429278850555,
                "transform": {
                    "location": {
                        "x": 2230.24755859375,
                        "y": 2524.2861328125,
                        "z": 366.356201171875
                    },
                    "rotation": {
                        "roll": -0.015319823287427425,
                        "pitch": -2.0813019275665283,
                        "yaw": -179.72071838378906
                    }
                },
                "velocity": {
                    "x": -0.0027292415034025908,
                    "y": -0.00018449773779138923,
                    "z": 0.00026361006894148886
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.2689740657806396,
                "transform": {
                    "location": {
                        "x": 2185.051513671875,
                        "y": 2463.0400390625,
                        "z": 364.80108642578125
                    },
                    "rotation": {
                        "roll": -0.0019836502615362406,
                        "pitch": 0.5578556656837463,
                        "yaw": 89.90038299560547
                    }
                },
                "velocity": {
                    "x": -0.0043968926183879375,
                    "y": 1.2689056396484375,
                    "z": 0.01242015790194273
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.692746639251709,
                "transform": {
                    "location": {
                        "x": 2218.92724609375,
                        "y": 2524.27392578125,
                        "z": 366.0129089355469
                    },
                    "rotation": {
                        "roll": -0.0004272460355423391,
                        "pitch": -1.3513187170028687,
                        "yaw": 179.9149932861328
                    }
                },
                "velocity": {
                    "x": -4.6906890869140625,
                    "y": 0.006745105609297752,
                    "z": -0.13879182934761047
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48786,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.9793425798416138,
                "transform": {
                    "location": {
                        "x": 2187.87841796875,
                        "y": 2563.614501953125,
                        "z": 365.11724853515625
                    },
                    "rotation": {
                        "roll": 0.004470778163522482,
                        "pitch": 0.3559006452560425,
                        "yaw": -89.49870300292969
                    }
                },
                "velocity": {
                    "x": 0.00970488041639328,
                    "y": -1.9793097972869873,
                    "z": 0.005933618638664484
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.002415779745206237,
                "transform": {
                    "location": {
                        "x": 2170.767822265625,
                        "y": 2527.3251953125,
                        "z": 364.9172058105469
                    },
                    "rotation": {
                        "roll": 3.989255856140517e-05,
                        "pitch": 0.8184820413589478,
                        "yaw": -0.1109313890337944
                    }
                },
                "velocity": {
                    "x": -0.0012476861011236906,
                    "y": 0.0001877688046079129,
                    "z": 0.0020601004362106323
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.123628616333008,
                "transform": {
                    "location": {
                        "x": 2185.02734375,
                        "y": 2484.82568359375,
                        "z": 364.9842834472656
                    },
                    "rotation": {
                        "roll": -0.002380451187491417,
                        "pitch": 0.6583619117736816,
                        "yaw": 90.00640106201172
                    }
                },
                "velocity": {
                    "x": -0.00348462606780231,
                    "y": 2.1235811710357666,
                    "z": 0.013789910823106766
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48789,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.15869140625,
                        "y": 2451.33251953125,
                        "z": 364.67987060546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6438136100769043,
                        "yaw": 90.06040954589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.001013619126752019,
                "transform": {
                    "location": {
                        "x": 2187.8759765625,
                        "y": 2539.953125,
                        "z": 365.16900634765625
                    },
                    "rotation": {
                        "roll": 0.0002138411218766123,
                        "pitch": -0.02057252824306488,
                        "yaw": -91.38713836669922
                    }
                },
                "velocity": {
                    "x": 9.58913005888462e-06,
                    "y": -5.073367901786696e-06,
                    "z": 0.0010135610355064273
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.20884741842746735,
                "transform": {
                    "location": {
                        "x": 2185.03955078125,
                        "y": 2474.470947265625,
                        "z": 364.8924865722656
                    },
                    "rotation": {
                        "roll": 0.005453977268189192,
                        "pitch": 0.4630594849586487,
                        "yaw": 90.68280792236328
                    }
                },
                "velocity": {
                    "x": 0.0006705040577799082,
                    "y": 0.20883695781230927,
                    "z": 0.0019785594195127487
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0002327421825611964,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.78143310546875
                    },
                    "rotation": {
                        "roll": 0.0031872401013970375,
                        "pitch": 0.21771226823329926,
                        "yaw": -179.8241729736328
                    }
                },
                "velocity": {
                    "x": 7.117129825928714e-06,
                    "y": 1.3453213796310592e-05,
                    "z": 0.00023224401229526848
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00010751709487522021,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0005258346791379154,
                        "pitch": 0.21928320825099945,
                        "yaw": 179.8749542236328
                    }
                },
                "velocity": {
                    "x": -4.7142057155724615e-05,
                    "y": -3.736726966963033e-06,
                    "z": -9.655873873271048e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0008591878577135503,
                "transform": {
                    "location": {
                        "x": 2187.900390625,
                        "y": 2550.385498046875,
                        "z": 365.15753173828125
                    },
                    "rotation": {
                        "roll": -0.000518796150572598,
                        "pitch": 0.0561714731156826,
                        "yaw": -89.72350311279297
                    }
                },
                "velocity": {
                    "x": 0.00025192255270667374,
                    "y": 0.0007205435540527105,
                    "z": 0.00039440568070858717
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9539833068847656,
                "transform": {
                    "location": {
                        "x": 2185.010009765625,
                        "y": 2498.430419921875,
                        "z": 365.0701599121094
                    },
                    "rotation": {
                        "roll": 0.0005539003177545965,
                        "pitch": 0.4172220826148987,
                        "yaw": 90.09031677246094
                    }
                },
                "velocity": {
                    "x": -0.0023975924123078585,
                    "y": 1.9539519548416138,
                    "z": 0.010800780728459358
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.494407296180725,
                "transform": {
                    "location": {
                        "x": 2185.004638671875,
                        "y": 2507.94873046875,
                        "z": 365.11773681640625
                    },
                    "rotation": {
                        "roll": 0.0012806433951482177,
                        "pitch": 0.12423430383205414,
                        "yaw": 90.10149383544922
                    }
                },
                "velocity": {
                    "x": -0.0025750494096428156,
                    "y": 1.4943931102752686,
                    "z": 0.005974902771413326
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.4675004482269287,
                "transform": {
                    "location": {
                        "x": 2207.03564453125,
                        "y": 2524.295166015625,
                        "z": 365.680419921875
                    },
                    "rotation": {
                        "roll": 9.027035412145779e-05,
                        "pitch": -1.6622835397720337,
                        "yaw": 179.87399291992188
                    }
                },
                "velocity": {
                    "x": -2.4666197299957275,
                    "y": 0.0050757876597344875,
                    "z": -0.06572414189577103
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.890024662017822,
                "transform": {
                    "location": {
                        "x": 2159.05810546875,
                        "y": 2527.349365234375,
                        "z": 364.73760986328125
                    },
                    "rotation": {
                        "roll": 0.0002629765949677676,
                        "pitch": 0.36587271094322205,
                        "yaw": -0.0258789025247097
                    }
                },
                "velocity": {
                    "x": 6.889925956726074,
                    "y": -0.011836196295917034,
                    "z": 0.034949950873851776
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": 0.2553213834762573,
        "expert_target_speed": 0.0,
        "target_point": [
            29.512288471378966,
            7.56799105057395
        ],
        "target_point_next": [
            29.512288471378966,
            7.56799105057395
        ]
    },
    "485": {
        "acceleration": [
            0.4182887077331543,
            -0.5163861513137817,
            0.010269731283187866
        ],
        "angular_velocity": [
            -0.4867015779018402,
            0.25603681802749634,
            7.861321926116943
        ],
        "forward_vector": [
            -0.9733172059059143,
            0.22845925390720367,
            -0.0214479211717844
        ],
        "right_vector": [
            -0.22841180860996246,
            -0.9735534191131592,
            -0.004668868146836758
        ],
        "location": [
            2178.407958984375,
            2524.1005859375,
            365.0256652832031
        ],
        "rotation": [
            0.2675689458847046,
            -1.2289695739746094,
            166.79052734375
        ],
        "velocity": [
            -0.8467709422111511,
            -0.022008191794157028,
            -0.01719736121594906
        ],
        "speed": 0.8470568983717734,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.29257869720459,
        "front_vehicle_info": {
            "id": 48779,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2170.768798828125,
                2527.3251953125,
                364.9161682128906
            ],
            "velocity": [
                -0.000350635644281283,
                -0.0003523675259202719,
                0.0013878507306799293
            ],
            "speed_kmh": 0.005307086103692165,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 48788,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.7340980768203735,
                "transform": {
                    "location": {
                        "x": 2143.9580078125,
                        "y": 2527.355224609375,
                        "z": 364.7688903808594
                    },
                    "rotation": {
                        "roll": -0.0010375974234193563,
                        "pitch": -0.201019287109375,
                        "yaw": 0.23297850787639618
                    }
                },
                "velocity": {
                    "x": 1.7340863943099976,
                    "y": 0.0014258252922445536,
                    "z": -0.006194286048412323
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48787,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.3329788446426392,
                "transform": {
                    "location": {
                        "x": 2230.041259765625,
                        "y": 2524.285400390625,
                        "z": 366.3502502441406
                    },
                    "rotation": {
                        "roll": -0.01281738094985485,
                        "pitch": -1.759183406829834,
                        "yaw": -179.69851684570312
                    }
                },
                "velocity": {
                    "x": -1.3323431015014648,
                    "y": -0.004323127213865519,
                    "z": -0.04093344137072563
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.8995247483253479,
                "transform": {
                    "location": {
                        "x": 2185.05126953125,
                        "y": 2463.14453125,
                        "z": 364.80206298828125
                    },
                    "rotation": {
                        "roll": -0.0011291337432339787,
                        "pitch": 0.5104883313179016,
                        "yaw": 89.88734436035156
                    }
                },
                "velocity": {
                    "x": -0.0017846260452643037,
                    "y": 0.8994892835617065,
                    "z": 0.007785806432366371
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.305611610412598,
                "transform": {
                    "location": {
                        "x": 2217.736572265625,
                        "y": 2524.27587890625,
                        "z": 365.9782409667969
                    },
                    "rotation": {
                        "roll": -0.0005187988863326609,
                        "pitch": -1.6230168342590332,
                        "yaw": 179.91192626953125
                    }
                },
                "velocity": {
                    "x": -4.303858280181885,
                    "y": 0.006536656059324741,
                    "z": -0.12269201874732971
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48786,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.217662811279297,
                "transform": {
                    "location": {
                        "x": 2187.8798828125,
                        "y": 2563.026123046875,
                        "z": 365.1195373535156
                    },
                    "rotation": {
                        "roll": 0.0031910224352031946,
                        "pitch": 0.2990666329860687,
                        "yaw": -89.70501708984375
                    }
                },
                "velocity": {
                    "x": 0.010144000872969627,
                    "y": -2.2176194190979004,
                    "z": 0.009451569989323616
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0014741906197741628,
                "transform": {
                    "location": {
                        "x": 2170.768798828125,
                        "y": 2527.3251953125,
                        "z": 364.9161682128906
                    },
                    "rotation": {
                        "roll": 0.00015880934370215982,
                        "pitch": 0.9433310627937317,
                        "yaw": -0.1109008714556694
                    }
                },
                "velocity": {
                    "x": -0.000350635644281283,
                    "y": -0.0003523675259202719,
                    "z": 0.0013878507306799293
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.6269547939300537,
                "transform": {
                    "location": {
                        "x": 2185.026123046875,
                        "y": 2485.53125,
                        "z": 364.9883117675781
                    },
                    "rotation": {
                        "roll": -0.00018312300380785018,
                        "pitch": 0.7391015887260437,
                        "yaw": 90.0262222290039
                    }
                },
                "velocity": {
                    "x": -0.005296490155160427,
                    "y": 3.626870632171631,
                    "z": 0.024124249815940857
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48789,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.156982421875,
                        "y": 2452.58251953125,
                        "z": 364.693115234375
                    },
                    "rotation": {
                        "roll": 2.668192600197017e-08,
                        "pitch": 0.6073881983757019,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0004970848094671965,
                "transform": {
                    "location": {
                        "x": 2187.8759765625,
                        "y": 2539.953125,
                        "z": 365.16900634765625
                    },
                    "rotation": {
                        "roll": 0.0002138411218766123,
                        "pitch": -0.02057252824306488,
                        "yaw": -91.38713836669922
                    }
                },
                "velocity": {
                    "x": -2.151243643311318e-05,
                    "y": 1.1154367712151725e-05,
                    "z": 0.000496493827085942
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.1186718940734863,
                "transform": {
                    "location": {
                        "x": 2185.038818359375,
                        "y": 2474.66796875,
                        "z": 364.8939514160156
                    },
                    "rotation": {
                        "roll": 0.004702914506196976,
                        "pitch": 0.523028552532196,
                        "yaw": 90.57937622070312
                    }
                },
                "velocity": {
                    "x": -0.007483367808163166,
                    "y": 1.118592619895935,
                    "z": 0.011012907139956951
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00010434835712658241,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.78143310546875
                    },
                    "rotation": {
                        "roll": 0.003072722116485238,
                        "pitch": 0.21779422461986542,
                        "yaw": -179.82415771484375
                    }
                },
                "velocity": {
                    "x": 8.304677976411767e-06,
                    "y": 1.659889858274255e-05,
                    "z": -0.00010268441110383719
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0008380906074307859,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0005258346791379154,
                        "pitch": 0.21928320825099945,
                        "yaw": 179.8749542236328
                    }
                },
                "velocity": {
                    "x": 3.0949784559197724e-05,
                    "y": 7.049087344057625e-06,
                    "z": -0.0008374892640858889
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00040754477959126234,
                "transform": {
                    "location": {
                        "x": 2187.900390625,
                        "y": 2550.38525390625,
                        "z": 365.15753173828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.08172320574522018,
                        "yaw": -89.72350311279297
                    }
                },
                "velocity": {
                    "x": 0.00015366794832516462,
                    "y": 0.00026331315166316926,
                    "z": 0.0002704534854274243
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.001322949305176735,
                "transform": {
                    "location": {
                        "x": 2185.01025390625,
                        "y": 2498.542236328125,
                        "z": 365.0703430175781
                    },
                    "rotation": {
                        "roll": 0.0012573577696457505,
                        "pitch": 0.4723690152168274,
                        "yaw": 90.0986557006836
                    }
                },
                "velocity": {
                    "x": 3.755526995519176e-05,
                    "y": -0.0011630139779299498,
                    "z": -0.0006294306367635727
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0016596963396295905,
                "transform": {
                    "location": {
                        "x": 2185.0048828125,
                        "y": 2508.253662109375,
                        "z": 365.1175231933594
                    },
                    "rotation": {
                        "roll": -0.00018311012536287308,
                        "pitch": 0.29144415259361267,
                        "yaw": 90.11333465576172
                    }
                },
                "velocity": {
                    "x": 1.1655142770905513e-05,
                    "y": 0.0016505671665072441,
                    "z": -0.00017344733350910246
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.3995261192321777,
                "transform": {
                    "location": {
                        "x": 2206.3291015625,
                        "y": 2524.297119140625,
                        "z": 365.6618957519531
                    },
                    "rotation": {
                        "roll": -0.0010375974234193563,
                        "pitch": -1.460260272026062,
                        "yaw": 179.87940979003906
                    }
                },
                "velocity": {
                    "x": -3.3982949256896973,
                    "y": 0.007251312956213951,
                    "z": -0.09119956940412521
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.221430540084839,
                "transform": {
                    "location": {
                        "x": 2160.444091796875,
                        "y": 2527.34716796875,
                        "z": 364.7468566894531
                    },
                    "rotation": {
                        "roll": 8.853555482346565e-05,
                        "pitch": 0.12143392860889435,
                        "yaw": -0.081329345703125
                    }
                },
                "velocity": {
                    "x": 3.221379280090332,
                    "y": -0.005751310382038355,
                    "z": 0.01724124886095524
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": 0.1790982037782669,
        "expert_target_speed": 0.0,
        "target_point": [
            29.53605515366535,
            6.496157349831684
        ],
        "target_point_next": [
            29.53605515366535,
            6.496157349831684
        ]
    },
    "490": {
        "acceleration": [
            0.3271138668060303,
            0.33572250604629517,
            0.0032629072666168213
        ],
        "angular_velocity": [
            0.23557764291763306,
            0.045705396682024,
            6.344259738922119
        ],
        "forward_vector": [
            -0.9798124432563782,
            0.198813796043396,
            -0.020992761477828026
        ],
        "right_vector": [
            -0.19877232611179352,
            -0.980037271976471,
            -0.004064627923071384
        ],
        "location": [
            2178.2109375,
            2524.10107421875,
            365.0216064453125
        ],
        "rotation": [
            0.2329379916191101,
            -1.2028850317001343,
            168.5298309326172
        ],
        "velocity": [
            -0.7559124827384949,
            -0.02389085292816162,
            -0.015962133184075356
        ],
        "speed": 0.7562899274838389,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.110973358154297,
        "front_vehicle_info": {
            "id": 48779,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2170.76904296875,
                2527.3251953125,
                364.9160461425781
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 48788,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.5184988975524902,
                "transform": {
                    "location": {
                        "x": 2144.492431640625,
                        "y": 2527.3564453125,
                        "z": 364.76690673828125
                    },
                    "rotation": {
                        "roll": -0.001220703125,
                        "pitch": -0.19937321543693542,
                        "yaw": 0.18560443818569183
                    }
                },
                "velocity": {
                    "x": 2.5184762477874756,
                    "y": 0.0033813565969467163,
                    "z": -0.01012012455612421
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48787,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.2681262493133545,
                "transform": {
                    "location": {
                        "x": 2229.58837890625,
                        "y": 2524.283935546875,
                        "z": 366.3363342285156
                    },
                    "rotation": {
                        "roll": -0.0108642578125,
                        "pitch": -1.6755682229995728,
                        "yaw": -179.7340545654297
                    }
                },
                "velocity": {
                    "x": -2.267003059387207,
                    "y": -0.0075446730479598045,
                    "z": -0.07097339630126953
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.2010252475738525,
                "transform": {
                    "location": {
                        "x": 2185.05126953125,
                        "y": 2463.537841796875,
                        "z": 364.8058776855469
                    },
                    "rotation": {
                        "roll": -0.0011901584221050143,
                        "pitch": 0.7599745988845825,
                        "yaw": 89.93324279785156
                    }
                },
                "velocity": {
                    "x": -0.0015924456529319286,
                    "y": 2.200932741165161,
                    "z": 0.02012530341744423
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.8165876865386963,
                "transform": {
                    "location": {
                        "x": 2216.863037109375,
                        "y": 2524.27734375,
                        "z": 365.9532775878906
                    },
                    "rotation": {
                        "roll": -0.00079345703125,
                        "pitch": -1.8876934051513672,
                        "yaw": 179.9029998779297
                    }
                },
                "velocity": {
                    "x": -2.815453052520752,
                    "y": 0.005356892012059689,
                    "z": -0.07975690811872482
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48786,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.2617046535015106,
                "transform": {
                    "location": {
                        "x": 2187.880615234375,
                        "y": 2562.826416015625,
                        "z": 365.1199951171875
                    },
                    "rotation": {
                        "roll": 0.001702062669210136,
                        "pitch": 0.013837962411344051,
                        "yaw": -89.84654998779297
                    }
                },
                "velocity": {
                    "x": 0.00016267923638224602,
                    "y": -0.2616978883743286,
                    "z": 0.0018757819198071957
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2170.76904296875,
                        "y": 2527.3251953125,
                        "z": 364.9160461425781
                    },
                    "rotation": {
                        "roll": 0.00019276134844403714,
                        "pitch": 0.9676874876022339,
                        "yaw": -0.1108398362994194
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.0324482917785645,
                "transform": {
                    "location": {
                        "x": 2185.024658203125,
                        "y": 2486.70263671875,
                        "z": 364.9958190917969
                    },
                    "rotation": {
                        "roll": -0.0005493527860380709,
                        "pitch": 0.8195065259933472,
                        "yaw": 90.06096649169922
                    }
                },
                "velocity": {
                    "x": -0.006488312967121601,
                    "y": 5.032320022583008,
                    "z": 0.03534196689724922
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48789,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.156494140625,
                        "y": 2452.999267578125,
                        "z": 364.69757080078125
                    },
                    "rotation": {
                        "roll": 2.668192600197017e-08,
                        "pitch": 0.6073881983757019,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0069586955942213535,
                "transform": {
                    "location": {
                        "x": 2187.8759765625,
                        "y": 2539.9541015625,
                        "z": 365.16900634765625
                    },
                    "rotation": {
                        "roll": 0.0003279074444435537,
                        "pitch": -0.019869018346071243,
                        "yaw": -91.38634490966797
                    }
                },
                "velocity": {
                    "x": 0.0018774508498609066,
                    "y": 0.006603247951716185,
                    "z": 0.0011383056407794356
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.0689250230789185,
                "transform": {
                    "location": {
                        "x": 2185.03271484375,
                        "y": 2474.938720703125,
                        "z": 364.8963623046875
                    },
                    "rotation": {
                        "roll": 0.0010762203019112349,
                        "pitch": 0.48554447293281555,
                        "yaw": 90.29304504394531
                    }
                },
                "velocity": {
                    "x": -0.019850527867674828,
                    "y": 1.0687018632888794,
                    "z": 0.00910716038197279
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.708265861263499e-05,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.78143310546875
                    },
                    "rotation": {
                        "roll": 0.0020211506634950638,
                        "pitch": 0.21779422461986542,
                        "yaw": -179.82415771484375
                    }
                },
                "velocity": {
                    "x": 6.291791578405537e-06,
                    "y": -1.2914149465359515e-06,
                    "z": -9.686996054369956e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00010419920727144927,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.00038177534588612616,
                        "pitch": 0.21939249336719513,
                        "yaw": 179.875
                    }
                },
                "velocity": {
                    "x": -1.3294070413394365e-06,
                    "y": 0.00010048910917248577,
                    "z": -2.7525376935955137e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00023880021763034165,
                "transform": {
                    "location": {
                        "x": 2187.900390625,
                        "y": 2550.385009765625,
                        "z": 365.1575622558594
                    },
                    "rotation": {
                        "roll": -0.0006408645422197878,
                        "pitch": 0.08663411438465118,
                        "yaw": -89.72349548339844
                    }
                },
                "velocity": {
                    "x": 0.00012299710942897946,
                    "y": 4.10191532864701e-05,
                    "z": -0.00020053598564118147
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0009782785782590508,
                "transform": {
                    "location": {
                        "x": 2185.01025390625,
                        "y": 2498.54150390625,
                        "z": 365.0715026855469
                    },
                    "rotation": {
                        "roll": 0.0018586417427286506,
                        "pitch": 0.3248642683029175,
                        "yaw": 90.09867095947266
                    }
                },
                "velocity": {
                    "x": -4.555734631139785e-05,
                    "y": -0.00031118758488446474,
                    "z": -0.0009263453539460897
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.0073930025100708,
                "transform": {
                    "location": {
                        "x": 2185.0048828125,
                        "y": 2508.391357421875,
                        "z": 365.1190490722656
                    },
                    "rotation": {
                        "roll": 0.0007608419982716441,
                        "pitch": 0.15986740589141846,
                        "yaw": 90.12784576416016
                    }
                },
                "velocity": {
                    "x": -0.00189568183850497,
                    "y": 1.0073884725570679,
                    "z": 0.002334928372874856
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.723021030426025,
                "transform": {
                    "location": {
                        "x": 2205.2822265625,
                        "y": 2524.29931640625,
                        "z": 365.6346435546875
                    },
                    "rotation": {
                        "roll": 0.00037203365354798734,
                        "pitch": -1.3255894184112549,
                        "yaw": 179.87770080566406
                    }
                },
                "velocity": {
                    "x": -4.7214579582214355,
                    "y": 0.010684098117053509,
                    "z": -0.12103435397148132
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.018924355506897,
                "transform": {
                    "location": {
                        "x": 2160.673583984375,
                        "y": 2527.34716796875,
                        "z": 364.7478332519531
                    },
                    "rotation": {
                        "roll": -0.000579833984375,
                        "pitch": 0.1275196224451065,
                        "yaw": -0.10009765625
                    }
                },
                "velocity": {
                    "x": 1.0189058780670166,
                    "y": -0.0033567845821380615,
                    "z": 0.005129708908498287
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": 0.10401642322540283,
        "expert_target_speed": 0.0,
        "target_point": [
            29.52643590132847,
            5.557978878739569
        ],
        "target_point_next": [
            29.52643590132847,
            5.557978878739569
        ]
    },
    "495": {
        "acceleration": [
            0.008962154388427734,
            -0.42025887966156006,
            0.002663619816303253
        ],
        "angular_velocity": [
            -0.49889373779296875,
            0.15082906186580658,
            6.516201496124268
        ],
        "forward_vector": [
            -0.9849360585212708,
            0.17167961597442627,
            -0.020664529874920845
        ],
        "right_vector": [
            -0.17164522409439087,
            -0.9851528406143188,
            -0.0034405074547976255
        ],
        "location": [
            2178.0283203125,
            2524.096923828125,
            365.0178527832031
        ],
        "rotation": [
            0.19716905057430267,
            -1.1840746402740479,
            170.1123809814453
        ],
        "velocity": [
            -0.7162258625030518,
            -0.052907999604940414,
            -0.013281554915010929
        ],
        "speed": 0.7181773754027878,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 7.945389270782471,
        "front_vehicle_info": {
            "id": 48779,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2170.76904296875,
                2527.3251953125,
                364.9160461425781
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 48788,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.293485164642334,
                "transform": {
                    "location": {
                        "x": 2145.224609375,
                        "y": 2527.357666015625,
                        "z": 364.7640686035156
                    },
                    "rotation": {
                        "roll": -0.00146484375,
                        "pitch": -0.19940052926540375,
                        "yaw": 0.14863038063049316
                    }
                },
                "velocity": {
                    "x": 3.293462038040161,
                    "y": 0.004226116929203272,
                    "z": -0.011613292619585991
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48787,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.005710815545171499,
                "transform": {
                    "location": {
                        "x": 2229.16064453125,
                        "y": 2524.282470703125,
                        "z": 366.32257080078125
                    },
                    "rotation": {
                        "roll": -0.01708984375,
                        "pitch": -2.0583183765411377,
                        "yaw": -179.62985229492188
                    }
                },
                "velocity": {
                    "x": -0.005690618418157101,
                    "y": 0.00022124401584733278,
                    "z": 0.00042582611786201596
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.758169412612915,
                "transform": {
                    "location": {
                        "x": 2185.05126953125,
                        "y": 2464.28955078125,
                        "z": 364.8130798339844
                    },
                    "rotation": {
                        "roll": -0.003265323117375374,
                        "pitch": 0.8501399159431458,
                        "yaw": 89.97418975830078
                    }
                },
                "velocity": {
                    "x": -0.004209205042570829,
                    "y": 3.7579917907714844,
                    "z": 0.03629613667726517
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.003776698373258114,
                "transform": {
                    "location": {
                        "x": 2216.52587890625,
                        "y": 2524.278076171875,
                        "z": 365.9435729980469
                    },
                    "rotation": {
                        "roll": -0.003997802268713713,
                        "pitch": -2.209928035736084,
                        "yaw": 179.97560119628906
                    }
                },
                "velocity": {
                    "x": 0.0037433754187077284,
                    "y": -0.00030472467187792063,
                    "z": -0.0003971568658016622
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48786,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.2773919105529785,
                "transform": {
                    "location": {
                        "x": 2187.880859375,
                        "y": 2562.618896484375,
                        "z": 365.1212463378906
                    },
                    "rotation": {
                        "roll": 0.0012740482343360782,
                        "pitch": 0.303615540266037,
                        "yaw": -89.80413055419922
                    }
                },
                "velocity": {
                    "x": 0.00400448078289628,
                    "y": -1.27737557888031,
                    "z": 0.005077495239675045
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2170.76904296875,
                        "y": 2527.3251953125,
                        "z": 364.9160461425781
                    },
                    "rotation": {
                        "roll": 0.00019276134844403714,
                        "pitch": 0.9676874876022339,
                        "yaw": -0.1108398362994194
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.004197500180453062,
                "transform": {
                    "location": {
                        "x": 2185.021240234375,
                        "y": 2487.162109375,
                        "z": 365.0104064941406
                    },
                    "rotation": {
                        "roll": 0.012358948588371277,
                        "pitch": -0.6249008178710938,
                        "yaw": 89.81189727783203
                    }
                },
                "velocity": {
                    "x": -0.0007718877168372273,
                    "y": 0.0036486273165792227,
                    "z": -0.0019263221183791757
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48789,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.15576171875,
                        "y": 2453.83251953125,
                        "z": 364.7064514160156
                    },
                    "rotation": {
                        "roll": 2.668192600197017e-08,
                        "pitch": 0.6073881983757019,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.2639118731021881,
                "transform": {
                    "location": {
                        "x": 2187.875,
                        "y": 2539.936767578125,
                        "z": 365.1687316894531
                    },
                    "rotation": {
                        "roll": 0.0051736789755523205,
                        "pitch": 0.016754454001784325,
                        "yaw": -91.38839721679688
                    }
                },
                "velocity": {
                    "x": -0.01596882753074169,
                    "y": -0.26342350244522095,
                    "z": 0.0015886020846664906
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.4202616214752197,
                "transform": {
                    "location": {
                        "x": 2185.03271484375,
                        "y": 2475.428955078125,
                        "z": 364.89990234375
                    },
                    "rotation": {
                        "roll": 0.002134741982445121,
                        "pitch": 0.5394414663314819,
                        "yaw": 90.30329132080078
                    }
                },
                "velocity": {
                    "x": 5.750315176555887e-05,
                    "y": 2.4201934337615967,
                    "z": 0.01816110499203205
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.51576730585657e-05,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.78143310546875
                    },
                    "rotation": {
                        "roll": 0.0028716064989566803,
                        "pitch": 0.2177600860595703,
                        "yaw": -179.82411193847656
                    }
                },
                "velocity": {
                    "x": 7.404536063404521e-06,
                    "y": 2.0514202333288267e-05,
                    "z": -9.262463572667912e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0007447008392773569,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.00038177534588612616,
                        "pitch": 0.21939249336719513,
                        "yaw": 179.875
                    }
                },
                "velocity": {
                    "x": 3.7419422369566746e-06,
                    "y": 9.880088327918202e-05,
                    "z": -0.0007381082396022975
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00040215946501120925,
                "transform": {
                    "location": {
                        "x": 2187.900390625,
                        "y": 2550.385009765625,
                        "z": 365.1575622558594
                    },
                    "rotation": {
                        "roll": -0.0007019061595201492,
                        "pitch": 0.09093030542135239,
                        "yaw": -89.72349548339844
                    }
                },
                "velocity": {
                    "x": -0.00012309853627812117,
                    "y": 5.2616764151025563e-05,
                    "z": -0.0003792234929278493
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00045455479994416237,
                "transform": {
                    "location": {
                        "x": 2185.01025390625,
                        "y": 2498.54150390625,
                        "z": 365.0716857910156
                    },
                    "rotation": {
                        "roll": 0.002219483023509383,
                        "pitch": 0.30680525302886963,
                        "yaw": 90.09867858886719
                    }
                },
                "velocity": {
                    "x": 1.0046785064332653e-05,
                    "y": -3.953225677832961e-05,
                    "z": -0.0004527210257947445
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.6216360330581665,
                "transform": {
                    "location": {
                        "x": 2185.0048828125,
                        "y": 2508.737060546875,
                        "z": 365.1203308105469
                    },
                    "rotation": {
                        "roll": 5.894384594284929e-05,
                        "pitch": 0.11451494693756104,
                        "yaw": 90.12425231933594
                    }
                },
                "velocity": {
                    "x": -0.0034798134583979845,
                    "y": 1.6216226816177368,
                    "z": 0.005596437491476536
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.041154861450195,
                "transform": {
                    "location": {
                        "x": 2204.1923828125,
                        "y": 2524.301513671875,
                        "z": 365.6063537597656
                    },
                    "rotation": {
                        "roll": 0.0003487313515506685,
                        "pitch": -1.4934344291687012,
                        "yaw": 179.8740692138672
                    }
                },
                "velocity": {
                    "x": -4.0398149490356445,
                    "y": 0.009839988313615322,
                    "z": -0.10358628630638123
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0014972364297136664,
                "transform": {
                    "location": {
                        "x": 2160.7666015625,
                        "y": 2527.346923828125,
                        "z": 364.7478942871094
                    },
                    "rotation": {
                        "roll": -0.0025939939077943563,
                        "pitch": 0.21379856765270233,
                        "yaw": -0.1035461351275444
                    }
                },
                "velocity": {
                    "x": -0.00022997996711637825,
                    "y": -0.00012055485422024503,
                    "z": -0.001474548364058137
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": 0.03781309723854065,
        "expert_target_speed": 0.0,
        "target_point": [
            29.48947564160815,
            4.704986168051603
        ],
        "target_point_next": [
            29.48947564160815,
            4.704986168051603
        ]
    },
    "500": {
        "acceleration": [
            0.47643423080444336,
            0.35581082105636597,
            0.004719346761703491
        ],
        "angular_velocity": [
            0.30508944392204285,
            -0.06202273070812225,
            4.9109015464782715
        ],
        "forward_vector": [
            -0.9888632893562317,
            0.14739088714122772,
            -0.02062150649726391
        ],
        "right_vector": [
            -0.14736084640026093,
            -0.9890783429145813,
            -0.00297750742174685
        ],
        "location": [
            2177.858154296875,
            2524.090087890625,
            365.0144958496094
        ],
        "rotation": [
            0.1706351488828659,
            -1.181609034538269,
            171.52243041992188
        ],
        "velocity": [
            -0.6531633138656616,
            -0.043424591422080994,
            -0.013886728323996067
        ],
        "speed": 0.654605231968205,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 6.702322959899902,
        "front_vehicle_info": {
            "id": 48755,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2171.16796875,
                2524.47509765625,
                364.89483642578125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "217,217,217"
        },
        "other_vehicles": [
            {
                "id": 48788,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.2485995292663574,
                "transform": {
                    "location": {
                        "x": 2146.06005859375,
                        "y": 2527.35888671875,
                        "z": 364.7610778808594
                    },
                    "rotation": {
                        "roll": -0.0013122557429596782,
                        "pitch": -0.21548563241958618,
                        "yaw": 0.116707943379879
                    }
                },
                "velocity": {
                    "x": 3.248568058013916,
                    "y": 0.003759693820029497,
                    "z": -0.013796595856547356
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48787,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.9836837649345398,
                "transform": {
                    "location": {
                        "x": 2229.045166015625,
                        "y": 2524.281982421875,
                        "z": 366.31939697265625
                    },
                    "rotation": {
                        "roll": -0.014587397687137127,
                        "pitch": -1.803402066230774,
                        "yaw": -179.6473388671875
                    }
                },
                "velocity": {
                    "x": -0.9832031726837158,
                    "y": -0.004432689864188433,
                    "z": -0.030424894765019417
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.9435243606567383,
                "transform": {
                    "location": {
                        "x": 2185.049072265625,
                        "y": 2465.326904296875,
                        "z": 364.8229675292969
                    },
                    "rotation": {
                        "roll": -0.002410945715382695,
                        "pitch": 0.6516205072402954,
                        "yaw": 90.03006744384766
                    }
                },
                "velocity": {
                    "x": -0.005775152239948511,
                    "y": 3.9433352947235107,
                    "z": 0.038191258907318115
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.2696572542190552,
                "transform": {
                    "location": {
                        "x": 2216.353759765625,
                        "y": 2524.278564453125,
                        "z": 365.9388122558594
                    },
                    "rotation": {
                        "roll": -0.001922607421875,
                        "pitch": -1.620605707168579,
                        "yaw": 179.97451782226562
                    }
                },
                "velocity": {
                    "x": -1.2691447734832764,
                    "y": 0.0024743133690208197,
                    "z": -0.035984162241220474
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48786,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.2690515518188477,
                "transform": {
                    "location": {
                        "x": 2187.882568359375,
                        "y": 2562.1650390625,
                        "z": 365.123046875
                    },
                    "rotation": {
                        "roll": 0.001834197319112718,
                        "pitch": 0.36879605054855347,
                        "yaw": -89.8260498046875
                    }
                },
                "velocity": {
                    "x": 0.0063805291429162025,
                    "y": -2.2690298557281494,
                    "z": 0.007589321117848158
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2170.76904296875,
                        "y": 2527.3251953125,
                        "z": 364.9160461425781
                    },
                    "rotation": {
                        "roll": 0.00019276134844403714,
                        "pitch": 0.9676874876022339,
                        "yaw": -0.1108398362994194
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.1055071353912354,
                "transform": {
                    "location": {
                        "x": 2185.02099609375,
                        "y": 2487.478759765625,
                        "z": 365.0041198730469
                    },
                    "rotation": {
                        "roll": -0.005889884661883116,
                        "pitch": 0.39602118730545044,
                        "yaw": 89.81222534179688
                    }
                },
                "velocity": {
                    "x": 5.494823562912643e-05,
                    "y": 2.105454206466675,
                    "z": 0.014942588284611702
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48789,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.08908719569444656,
                "transform": {
                    "location": {
                        "x": 2185.155029296875,
                        "y": 2454.665771484375,
                        "z": 364.71826171875
                    },
                    "rotation": {
                        "roll": -0.00030521454755216837,
                        "pitch": 0.6078184843063354,
                        "yaw": 90.06039428710938
                    }
                },
                "velocity": {
                    "x": -1.6307783425872913e-06,
                    "y": -0.0010250125778838992,
                    "z": 0.0890813022851944
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.7039514780044556,
                "transform": {
                    "location": {
                        "x": 2187.868408203125,
                        "y": 2539.804443359375,
                        "z": 365.1680908203125
                    },
                    "rotation": {
                        "roll": 0.01283265184611082,
                        "pitch": 0.10206351429224014,
                        "yaw": -91.53507232666016
                    }
                },
                "velocity": {
                    "x": -0.04137234017252922,
                    "y": -0.7027328610420227,
                    "z": 0.0015886496985331178
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.9120280742645264,
                "transform": {
                    "location": {
                        "x": 2185.031494140625,
                        "y": 2476.237060546875,
                        "z": 364.90631103515625
                    },
                    "rotation": {
                        "roll": 0.0018361491383984685,
                        "pitch": 0.5430068373680115,
                        "yaw": 90.23082733154297
                    }
                },
                "velocity": {
                    "x": -0.0037269156891852617,
                    "y": 3.911902904510498,
                    "z": 0.031059980392456055
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00020856346236541867,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.78143310546875
                    },
                    "rotation": {
                        "roll": 0.0026489952579140663,
                        "pitch": 0.21798548102378845,
                        "yaw": -179.82411193847656
                    }
                },
                "velocity": {
                    "x": 5.7982651924248785e-06,
                    "y": -2.1130166715011e-05,
                    "z": -0.00020740929176099598
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.000923762156162411,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.00038177534588612616,
                        "pitch": 0.21939249336719513,
                        "yaw": 179.875
                    }
                },
                "velocity": {
                    "x": 3.758940874831751e-05,
                    "y": 1.627837264095433e-05,
                    "z": -0.0009228534763678908
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00010186469444306567,
                "transform": {
                    "location": {
                        "x": 2187.900390625,
                        "y": 2550.385009765625,
                        "z": 365.1575622558594
                    },
                    "rotation": {
                        "roll": -0.0007019061595201492,
                        "pitch": 0.09093030542135239,
                        "yaw": -89.72349548339844
                    }
                },
                "velocity": {
                    "x": -4.869957410846837e-05,
                    "y": -9.113046871789265e-06,
                    "z": -8.90040464582853e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.05150299519300461,
                "transform": {
                    "location": {
                        "x": 2185.01025390625,
                        "y": 2498.54443359375,
                        "z": 365.0717468261719
                    },
                    "rotation": {
                        "roll": 0.0017474447377026081,
                        "pitch": 0.29836997389793396,
                        "yaw": 90.09967803955078
                    }
                },
                "velocity": {
                    "x": -4.296458064345643e-05,
                    "y": 0.051502957940101624,
                    "z": 4.2858122469624504e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0012732255272567272,
                "transform": {
                    "location": {
                        "x": 2185.0048828125,
                        "y": 2508.859619140625,
                        "z": 365.11932373046875
                    },
                    "rotation": {
                        "roll": 0.0013603599509224296,
                        "pitch": 0.29830166697502136,
                        "yaw": 90.12258911132812
                    }
                },
                "velocity": {
                    "x": 8.765264283283614e-06,
                    "y": -0.0005353851011022925,
                    "z": 0.001155157689936459
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.028530597686768,
                "transform": {
                    "location": {
                        "x": 2203.175048828125,
                        "y": 2524.303955078125,
                        "z": 365.58026123046875
                    },
                    "rotation": {
                        "roll": 0.0008799547213129699,
                        "pitch": -1.4352412223815918,
                        "yaw": 179.86740112304688
                    }
                },
                "velocity": {
                    "x": -4.027168273925781,
                    "y": 0.010083586908876896,
                    "z": -0.10426685959100723
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0014939302345737815,
                "transform": {
                    "location": {
                        "x": 2160.76708984375,
                        "y": 2527.346923828125,
                        "z": 364.7474060058594
                    },
                    "rotation": {
                        "roll": -0.002471923828125,
                        "pitch": 0.2737607955932617,
                        "yaw": -0.103546142578125
                    }
                },
                "velocity": {
                    "x": -8.666004578117281e-05,
                    "y": -0.00020005150872748345,
                    "z": -0.0014779367484152317
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.020959513261914253,
        "expert_target_speed": 0.0,
        "target_point": [
            29.429025136640075,
            3.9460500130158147
        ],
        "target_point_next": [
            29.429025136640075,
            3.9460500130158147
        ]
    },
    "505": {
        "acceleration": [
            0.009206533432006836,
            -0.4253549873828888,
            0.0012695416808128357
        ],
        "angular_velocity": [
            -0.48692506551742554,
            0.06745294481515884,
            5.444015979766846
        ],
        "forward_vector": [
            -0.991954505443573,
            0.12491676956415176,
            -0.020544156432151794
        ],
        "right_vector": [
            -0.12489315867424011,
            -0.9921671748161316,
            -0.00243312306702137
        ],
        "location": [
            2177.69921875,
            2524.080322265625,
            365.01129150390625
        ],
        "rotation": [
            0.1394372433423996,
            -1.1771762371063232,
            172.82252502441406
        ],
        "velocity": [
            -0.6224779486656189,
            -0.07108020782470703,
            -0.013937892392277718
        ],
        "speed": 0.6265230981531011,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 6.544206619262695,
        "front_vehicle_info": {
            "id": 48755,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2171.16796875,
                2524.47509765625,
                364.89483642578125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "217,217,217"
        },
        "other_vehicles": [
            {
                "id": 48788,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.489997148513794,
                "transform": {
                    "location": {
                        "x": 2146.80810546875,
                        "y": 2527.360107421875,
                        "z": 364.7582702636719
                    },
                    "rotation": {
                        "roll": -0.0011901856632903218,
                        "pitch": -0.23282064497470856,
                        "yaw": 0.09995058923959732
                    }
                },
                "velocity": {
                    "x": 2.4899790287017822,
                    "y": 0.002968468004837632,
                    "z": -0.009066619910299778
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48787,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.9500205516815186,
                "transform": {
                    "location": {
                        "x": 2228.666748046875,
                        "y": 2524.28076171875,
                        "z": 366.3080139160156
                    },
                    "rotation": {
                        "roll": -0.011810299940407276,
                        "pitch": -1.6874938011169434,
                        "yaw": -179.71182250976562
                    }
                },
                "velocity": {
                    "x": -1.949121356010437,
                    "y": -0.006751774810254574,
                    "z": -0.0588265024125576
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.4323649406433105,
                "transform": {
                    "location": {
                        "x": 2185.047119140625,
                        "y": 2466.19140625,
                        "z": 364.8310852050781
                    },
                    "rotation": {
                        "roll": -0.00039672458660788834,
                        "pitch": 0.4699101448059082,
                        "yaw": 90.05438995361328
                    }
                },
                "velocity": {
                    "x": -0.005187043454498053,
                    "y": 3.4322047233581543,
                    "z": 0.03277118504047394
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.567436695098877,
                "transform": {
                    "location": {
                        "x": 2215.86669921875,
                        "y": 2524.279541015625,
                        "z": 365.9249267578125
                    },
                    "rotation": {
                        "roll": -0.0015563961351290345,
                        "pitch": -1.4347835779190063,
                        "yaw": 179.9618377685547
                    }
                },
                "velocity": {
                    "x": -2.5663790702819824,
                    "y": 0.0036248755641281605,
                    "z": -0.07359524816274643
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48786,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.6810764074325562,
                "transform": {
                    "location": {
                        "x": 2187.884521484375,
                        "y": 2561.663330078125,
                        "z": 365.1247253417969
                    },
                    "rotation": {
                        "roll": -0.0015258819330483675,
                        "pitch": 0.19081498682498932,
                        "yaw": -89.68026733398438
                    }
                },
                "velocity": {
                    "x": 0.00679685827344656,
                    "y": -1.6810529232025146,
                    "z": 0.005713081452995539
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2170.76904296875,
                        "y": 2527.3251953125,
                        "z": 364.9160461425781
                    },
                    "rotation": {
                        "roll": 0.00019276134844403714,
                        "pitch": 0.9676874876022339,
                        "yaw": -0.1108398362994194
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.22192175686359406,
                "transform": {
                    "location": {
                        "x": 2185.022216796875,
                        "y": 2487.979248046875,
                        "z": 365.0074462890625
                    },
                    "rotation": {
                        "roll": -0.003082282841205597,
                        "pitch": 0.4132537543773651,
                        "yaw": 89.94927978515625
                    }
                },
                "velocity": {
                    "x": 0.001251014182344079,
                    "y": 0.22190873324871063,
                    "z": 0.0020525455474853516
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48789,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.053567614406347275,
                "transform": {
                    "location": {
                        "x": 2185.155029296875,
                        "y": 2454.665771484375,
                        "z": 364.7410888671875
                    },
                    "rotation": {
                        "roll": 9.701555245555937e-05,
                        "pitch": 0.6116229295730591,
                        "yaw": 90.06041717529297
                    }
                },
                "velocity": {
                    "x": -0.00011764012015191838,
                    "y": -0.0006551691913045943,
                    "z": 0.05356347933411598
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.7467374801635742,
                "transform": {
                    "location": {
                        "x": 2187.85205078125,
                        "y": 2539.495361328125,
                        "z": 365.16748046875
                    },
                    "rotation": {
                        "roll": 0.020649824291467667,
                        "pitch": 0.1737736612558365,
                        "yaw": -91.83226776123047
                    }
                },
                "velocity": {
                    "x": -0.10519012063741684,
                    "y": -1.7435671091079712,
                    "z": 0.0006945895729586482
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.8593019843101501,
                "transform": {
                    "location": {
                        "x": 2185.0283203125,
                        "y": 2477.050048828125,
                        "z": 364.9145202636719
                    },
                    "rotation": {
                        "roll": -0.001159668667241931,
                        "pitch": 0.313157320022583,
                        "yaw": 90.05522155761719
                    }
                },
                "velocity": {
                    "x": -0.005502923391759396,
                    "y": 0.8592552542686462,
                    "z": 0.0070746419951319695
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.3840500691439956e-05,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.0023652170784771442,
                        "pitch": 0.2176986038684845,
                        "yaw": -179.8240966796875
                    }
                },
                "velocity": {
                    "x": 6.3340362430608366e-06,
                    "y": 2.936312012025155e-05,
                    "z": -1.5584177162963897e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.75471014296636e-05,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.00038177534588612616,
                        "pitch": 0.21939249336719513,
                        "yaw": 179.875
                    }
                },
                "velocity": {
                    "x": 2.081841103063198e-06,
                    "y": 3.2484313123859465e-06,
                    "z": -8.746203820919618e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.35483619570732117,
                "transform": {
                    "location": {
                        "x": 2187.900390625,
                        "y": 2550.36328125,
                        "z": 365.1575622558594
                    },
                    "rotation": {
                        "roll": 0.0003325124562252313,
                        "pitch": 0.1402784138917923,
                        "yaw": -89.7118148803711
                    }
                },
                "velocity": {
                    "x": 0.0006440575234591961,
                    "y": -0.35483160614967346,
                    "z": 0.001682176603935659
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0014236721908673644,
                "transform": {
                    "location": {
                        "x": 2185.010009765625,
                        "y": 2498.602783203125,
                        "z": 365.0721130371094
                    },
                    "rotation": {
                        "roll": 0.001250808360055089,
                        "pitch": 0.2953578531742096,
                        "yaw": 90.07779693603516
                    }
                },
                "velocity": {
                    "x": 9.13654912437778e-06,
                    "y": 0.0009061196469701827,
                    "z": -0.0010980465449392796
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0012136553414165974,
                "transform": {
                    "location": {
                        "x": 2185.0048828125,
                        "y": 2508.85888671875,
                        "z": 365.1201477050781
                    },
                    "rotation": {
                        "roll": 0.0016126481350511312,
                        "pitch": 0.20036359131336212,
                        "yaw": 90.12260437011719
                    }
                },
                "velocity": {
                    "x": -8.909803000278771e-05,
                    "y": -0.00023574709484819323,
                    "z": 0.0011872000759467483
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.8033244609832764,
                "transform": {
                    "location": {
                        "x": 2202.217529296875,
                        "y": 2524.305908203125,
                        "z": 365.556396484375
                    },
                    "rotation": {
                        "roll": 0.0002076952951028943,
                        "pitch": -1.451688289642334,
                        "yaw": 179.86917114257812
                    }
                },
                "velocity": {
                    "x": -3.8021786212921143,
                    "y": 0.008736885152757168,
                    "z": -0.0929441899061203
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0002572717785369605,
                "transform": {
                    "location": {
                        "x": 2160.76708984375,
                        "y": 2527.346923828125,
                        "z": 364.7473449707031
                    },
                    "rotation": {
                        "roll": -0.0022583003155887127,
                        "pitch": 0.28425878286361694,
                        "yaw": -0.1035461276769638
                    }
                },
                "velocity": {
                    "x": -3.273058609920554e-05,
                    "y": -0.00014602424926124513,
                    "z": -0.00020927110745105892
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.10032881051301956,
        "expert_target_speed": 0.0,
        "target_point": [
            29.354512204024694,
            3.247763196407605
        ],
        "target_point_next": [
            29.354512204024694,
            3.247763196407605
        ]
    },
    "510": {
        "acceleration": [
            0.281984806060791,
            0.38730525970458984,
            0.005774293094873428
        ],
        "angular_velocity": [
            0.3598984479904175,
            -0.06949076056480408,
            4.088685989379883
        ],
        "forward_vector": [
            -0.9943605661392212,
            0.10404057055711746,
            -0.020555002614855766
        ],
        "right_vector": [
            -0.10401929169893265,
            -0.9945730566978455,
            -0.002104489365592599
        ],
        "location": [
            2177.551513671875,
            2524.068603515625,
            365.00830078125
        ],
        "rotation": [
            0.12060392647981644,
            -1.177797794342041,
            174.02684020996094
        ],
        "velocity": [
            -0.5647289752960205,
            -0.05801990255713463,
            -0.012654304504394531
        ],
        "speed": 0.5677016158437747,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 6.397480487823486,
        "front_vehicle_info": {
            "id": 48755,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2171.16796875,
                2524.47509765625,
                364.89483642578125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "217,217,217"
        },
        "other_vehicles": [
            {
                "id": 48788,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.1228727474808693,
                "transform": {
                    "location": {
                        "x": 2147.0546875,
                        "y": 2527.3603515625,
                        "z": 364.7577209472656
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": -0.2730094790458679,
                        "yaw": 0.1731984168291092
                    }
                },
                "velocity": {
                    "x": 0.12286859005689621,
                    "y": 0.00019926499226130545,
                    "z": -0.0009904670296236873
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48787,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.1358981132507324,
                "transform": {
                    "location": {
                        "x": 2228.108154296875,
                        "y": 2524.27880859375,
                        "z": 366.29052734375
                    },
                    "rotation": {
                        "roll": -0.010345459915697575,
                        "pitch": -1.744908332824707,
                        "yaw": -179.750732421875
                    }
                },
                "velocity": {
                    "x": -2.134838342666626,
                    "y": -0.0065180580131709576,
                    "z": -0.06695576757192612
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.483292579650879,
                "transform": {
                    "location": {
                        "x": 2185.045166015625,
                        "y": 2467.11767578125,
                        "z": 364.8396911621094
                    },
                    "rotation": {
                        "roll": 0.0003842142759822309,
                        "pitch": 0.5253576040267944,
                        "yaw": 90.0655517578125
                    }
                },
                "velocity": {
                    "x": -0.003921180032193661,
                    "y": 3.4831511974334717,
                    "z": 0.031137054786086082
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.2082366943359375,
                "transform": {
                    "location": {
                        "x": 2215.01123046875,
                        "y": 2524.28076171875,
                        "z": 365.90045166015625
                    },
                    "rotation": {
                        "roll": -0.00048828122089616954,
                        "pitch": -1.3393795490264893,
                        "yaw": 179.93521118164062
                    }
                },
                "velocity": {
                    "x": -4.206490516662598,
                    "y": 0.006842192728072405,
                    "z": -0.12101636826992035
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48786,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.249927282333374,
                "transform": {
                    "location": {
                        "x": 2187.88671875,
                        "y": 2561.18212890625,
                        "z": 365.1266174316406
                    },
                    "rotation": {
                        "roll": 0.001461822772398591,
                        "pitch": 0.2643214762210846,
                        "yaw": -89.70308685302734
                    }
                },
                "velocity": {
                    "x": 0.007369621191173792,
                    "y": -2.249903917312622,
                    "z": 0.00713767996057868
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2170.76904296875,
                        "y": 2527.3251953125,
                        "z": 364.9160461425781
                    },
                    "rotation": {
                        "roll": 0.00019276134844403714,
                        "pitch": 0.9676874876022339,
                        "yaw": -0.1108398362994194
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0027601481415331364,
                "transform": {
                    "location": {
                        "x": 2185.022216796875,
                        "y": 2487.976318359375,
                        "z": 365.0105285644531
                    },
                    "rotation": {
                        "roll": 0.0009218388004228473,
                        "pitch": 0.026760680601000786,
                        "yaw": 89.94889831542969
                    }
                },
                "velocity": {
                    "x": -0.00010136087803402916,
                    "y": -0.002572817262262106,
                    "z": -0.0009943613549694419
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48789,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.008937885984778404,
                "transform": {
                    "location": {
                        "x": 2185.155029296875,
                        "y": 2454.665771484375,
                        "z": 364.7474670410156
                    },
                    "rotation": {
                        "roll": -0.00018311821622774005,
                        "pitch": 0.6127157211303711,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": 0.00014533325156662613,
                    "y": -0.00014046006253920496,
                    "z": 0.008935600519180298
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48790,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 2187.77685546875,
                        "y": 2576.30126953125,
                        "z": 365.43695068359375
                    },
                    "rotation": {
                        "roll": -2.6680980980131608e-08,
                        "pitch": 0.3695405423641205,
                        "yaw": -89.93964385986328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.2934460639953613,
                "transform": {
                    "location": {
                        "x": 2187.81689453125,
                        "y": 2538.855224609375,
                        "z": 365.1661376953125
                    },
                    "rotation": {
                        "roll": 0.028826991096138954,
                        "pitch": 0.30980369448661804,
                        "yaw": -92.30339813232422
                    }
                },
                "velocity": {
                    "x": -0.20206917822360992,
                    "y": -3.287240505218506,
                    "z": -0.0022072314750403166
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.9044584035873413,
                "transform": {
                    "location": {
                        "x": 2185.028076171875,
                        "y": 2477.34765625,
                        "z": 364.9158630371094
                    },
                    "rotation": {
                        "roll": -0.0003662269446067512,
                        "pitch": 0.4528210163116455,
                        "yaw": 90.10087585449219
                    }
                },
                "velocity": {
                    "x": -0.006596488878130913,
                    "y": 1.9043827056884766,
                    "z": 0.015638599172234535
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0005319600459188223,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.0029015729669481516,
                        "pitch": 0.21761664748191833,
                        "yaw": -179.8240966796875
                    }
                },
                "velocity": {
                    "x": 1.3388320212470717e-06,
                    "y": 1.493049808232172e-06,
                    "z": -0.0005319562624208629
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0002828521828632802,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0014679791638627648,
                        "pitch": 0.2197476625442505,
                        "yaw": 179.87503051757812
                    }
                },
                "velocity": {
                    "x": 2.919994221883826e-05,
                    "y": 8.058189996518195e-05,
                    "z": -0.0002695538569241762
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.3501867055892944,
                "transform": {
                    "location": {
                        "x": 2187.900390625,
                        "y": 2550.150146484375,
                        "z": 365.1580810546875
                    },
                    "rotation": {
                        "roll": 0.0014775238232687116,
                        "pitch": 0.26048290729522705,
                        "yaw": -89.7611083984375
                    }
                },
                "velocity": {
                    "x": 0.00328927394002676,
                    "y": -1.350181221961975,
                    "z": 0.0019958592019975185
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.001790201640687883,
                "transform": {
                    "location": {
                        "x": 2185.010009765625,
                        "y": 2498.60302734375,
                        "z": 365.0719299316406
                    },
                    "rotation": {
                        "roll": 0.0016854284331202507,
                        "pitch": 0.3176174461841583,
                        "yaw": 90.07780456542969
                    }
                },
                "velocity": {
                    "x": 2.0736417354783043e-05,
                    "y": -0.00010190169996349141,
                    "z": -0.0017871788004413247
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.0048828125,
                        "y": 2508.85888671875,
                        "z": 365.1201477050781
                    },
                    "rotation": {
                        "roll": 0.0016126481350511312,
                        "pitch": 0.20036359131336212,
                        "yaw": 90.12260437011719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.3700435161590576,
                "transform": {
                    "location": {
                        "x": 2201.29443359375,
                        "y": 2524.298828125,
                        "z": 365.5337829589844
                    },
                    "rotation": {
                        "roll": -0.055206287652254105,
                        "pitch": -1.480224847793579,
                        "yaw": -179.7234344482422
                    }
                },
                "velocity": {
                    "x": -3.367753505706787,
                    "y": -0.09300228953361511,
                    "z": -0.08234167098999023
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.556794399628416e-05,
                "transform": {
                    "location": {
                        "x": 2160.76708984375,
                        "y": 2527.346923828125,
                        "z": 364.7472839355469
                    },
                    "rotation": {
                        "roll": -0.00286865234375,
                        "pitch": 0.2892516553401947,
                        "yaw": -0.103515625
                    }
                },
                "velocity": {
                    "x": -1.7869322618935257e-05,
                    "y": -1.824076025513932e-05,
                    "z": 2.4759656298556365e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.14564494788646698,
        "expert_target_speed": 0.0,
        "target_point": [
            29.27060403719029,
            2.6030636286577487
        ],
        "target_point_next": [
            29.27060403719029,
            2.6030636286577487
        ]
    },
    "515": {
        "acceleration": [
            0.02590179443359375,
            -0.38181543350219727,
            0.00017719343304634094
        ],
        "angular_velocity": [
            -0.4549815058708191,
            0.060467835515737534,
            4.663742542266846
        ],
        "forward_vector": [
            -0.9962009787559509,
            0.08462031185626984,
            -0.020566681399941444
        ],
        "right_vector": [
            -0.08460349589586258,
            -0.9964132308959961,
            -0.0016880611656233668
        ],
        "location": [
            2177.414306640625,
            2524.0546875,
            365.0054931640625
        ],
        "rotation": [
            0.09673929214477539,
            -1.1784671545028687,
            175.144775390625
        ],
        "velocity": [
            -0.5315501093864441,
            -0.08128003776073456,
            -0.010410976596176624
        ],
        "speed": 0.5377285219579924,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 6.261447906494141,
        "front_vehicle_info": {
            "id": 48755,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2171.16796875,
                2524.47509765625,
                364.89483642578125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "217,217,217"
        },
        "other_vehicles": [
            {
                "id": 48788,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.9490721225738525,
                "transform": {
                    "location": {
                        "x": 2147.1923828125,
                        "y": 2527.35986328125,
                        "z": 364.7566223144531
                    },
                    "rotation": {
                        "roll": -0.0014038084773346782,
                        "pitch": -0.21294479072093964,
                        "yaw": 0.1977042853832245
                    }
                },
                "velocity": {
                    "x": 0.9490681886672974,
                    "y": 0.0008697111043147743,
                    "z": -0.0025804995093494654
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48787,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.6303941011428833,
                "transform": {
                    "location": {
                        "x": 2227.97412109375,
                        "y": 2524.2783203125,
                        "z": 366.2861328125
                    },
                    "rotation": {
                        "roll": -0.011810302734375,
                        "pitch": -1.9202871322631836,
                        "yaw": -179.76235961914062
                    }
                },
                "velocity": {
                    "x": -0.6300884485244751,
                    "y": -0.001541460514999926,
                    "z": -0.019567541778087616
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.5796021223068237,
                "transform": {
                    "location": {
                        "x": 2185.045166015625,
                        "y": 2467.80078125,
                        "z": 364.84588623046875
                    },
                    "rotation": {
                        "roll": -0.004119862336665392,
                        "pitch": 0.26675301790237427,
                        "yaw": 90.0004653930664
                    }
                },
                "velocity": {
                    "x": -0.006092355120927095,
                    "y": 1.5795282125473022,
                    "z": 0.014011583290994167
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.518813133239746,
                "transform": {
                    "location": {
                        "x": 2213.772705078125,
                        "y": 2524.282958984375,
                        "z": 365.8653564453125
                    },
                    "rotation": {
                        "roll": 3.210897148164804e-06,
                        "pitch": -1.363039255142212,
                        "yaw": 179.9208526611328
                    }
                },
                "velocity": {
                    "x": -5.516571521759033,
                    "y": 0.010444991290569305,
                    "z": -0.1569325178861618
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48786,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.003103072987869382,
                "transform": {
                    "location": {
                        "x": 2187.88720703125,
                        "y": 2560.79736328125,
                        "z": 365.1275939941406
                    },
                    "rotation": {
                        "roll": 0.001938004163093865,
                        "pitch": -0.07129351049661636,
                        "yaw": -89.89852142333984
                    }
                },
                "velocity": {
                    "x": -0.00011731751874322072,
                    "y": -0.0030078620184212923,
                    "z": 0.0007537002093158662
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2170.76904296875,
                        "y": 2527.3251953125,
                        "z": 364.9160461425781
                    },
                    "rotation": {
                        "roll": 0.00019276134844403714,
                        "pitch": 0.9676874876022339,
                        "yaw": -0.1108398362994194
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.04557133466005325,
                "transform": {
                    "location": {
                        "x": 2185.022216796875,
                        "y": 2487.9833984375,
                        "z": 365.00775146484375
                    },
                    "rotation": {
                        "roll": 5.96587015024852e-05,
                        "pitch": 0.374540239572525,
                        "yaw": 89.94966888427734
                    }
                },
                "velocity": {
                    "x": -8.429126319242641e-05,
                    "y": 0.04555473104119301,
                    "z": -0.0012272166786715388
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48789,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.1608400344848633,
                "transform": {
                    "location": {
                        "x": 2185.153564453125,
                        "y": 2454.784912109375,
                        "z": 364.7489318847656
                    },
                    "rotation": {
                        "roll": -0.0025024672504514456,
                        "pitch": 0.7065830230712891,
                        "yaw": 90.10120391845703
                    }
                },
                "velocity": {
                    "x": -0.0172126442193985,
                    "y": 1.1606261730194092,
                    "z": 0.014146832749247551
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48790,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.4231022596359253,
                "transform": {
                    "location": {
                        "x": 2187.77685546875,
                        "y": 2576.30078125,
                        "z": 365.038818359375
                    },
                    "rotation": {
                        "roll": 0.0016095153987407684,
                        "pitch": 0.3621707558631897,
                        "yaw": -89.93973541259766
                    }
                },
                "velocity": {
                    "x": -2.7667460017255507e-05,
                    "y": -0.008967439644038677,
                    "z": -1.4230740070343018
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.4483306407928467,
                "transform": {
                    "location": {
                        "x": 2187.764404296875,
                        "y": 2537.94970703125,
                        "z": 365.1671447753906
                    },
                    "rotation": {
                        "roll": 0.015117043629288673,
                        "pitch": 0.1270415186882019,
                        "yaw": -92.80823516845703
                    }
                },
                "velocity": {
                    "x": -0.2206004410982132,
                    "y": -3.4412667751312256,
                    "z": -0.001874523120932281
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.577773094177246,
                "transform": {
                    "location": {
                        "x": 2185.026611328125,
                        "y": 2477.916259765625,
                        "z": 364.919921875
                    },
                    "rotation": {
                        "roll": -0.0002746586687862873,
                        "pitch": 0.49781832098960876,
                        "yaw": 89.91654968261719
                    }
                },
                "velocity": {
                    "x": 0.0026043555699288845,
                    "y": 2.577691078186035,
                    "z": 0.02041149139404297
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0001961230009328574,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.78143310546875
                    },
                    "rotation": {
                        "roll": 0.002638862933963537,
                        "pitch": 0.21785570681095123,
                        "yaw": -179.8240966796875
                    }
                },
                "velocity": {
                    "x": 6.3737852542544715e-06,
                    "y": -2.4494795525242807e-06,
                    "z": 0.0001960040972335264
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00011857292702188715,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0014679791638627648,
                        "pitch": 0.2197476625442505,
                        "yaw": 179.87503051757812
                    }
                },
                "velocity": {
                    "x": 4.722758967545815e-05,
                    "y": -9.21646278584376e-05,
                    "z": -5.77475038880948e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.6354124546051025,
                "transform": {
                    "location": {
                        "x": 2187.902099609375,
                        "y": 2549.652099609375,
                        "z": 365.1589660644531
                    },
                    "rotation": {
                        "roll": 0.000557883467990905,
                        "pitch": 0.32728898525238037,
                        "yaw": -89.74295043945312
                    }
                },
                "velocity": {
                    "x": 0.006733837071806192,
                    "y": -2.6354002952575684,
                    "z": 0.004354171454906464
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.010009765625,
                        "y": 2498.60302734375,
                        "z": 365.0719909667969
                    },
                    "rotation": {
                        "roll": 0.0012356420047581196,
                        "pitch": 0.3101520538330078,
                        "yaw": 90.07780456542969
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.0048828125,
                        "y": 2508.85888671875,
                        "z": 365.1201477050781
                    },
                    "rotation": {
                        "roll": 0.0016126481350511312,
                        "pitch": 0.20036359131336212,
                        "yaw": 90.12260437011719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.096107244491577,
                "transform": {
                    "location": {
                        "x": 2200.619873046875,
                        "y": 2524.27685546875,
                        "z": 365.5169982910156
                    },
                    "rotation": {
                        "roll": -0.0397949181497097,
                        "pitch": -1.5899927616119385,
                        "yaw": -179.04226684570312
                    }
                },
                "velocity": {
                    "x": -2.0941574573516846,
                    "y": -0.07381848245859146,
                    "z": -0.052161525934934616
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00012516971037257463,
                "transform": {
                    "location": {
                        "x": 2160.76708984375,
                        "y": 2527.346923828125,
                        "z": 364.7472839355469
                    },
                    "rotation": {
                        "roll": -0.00286865234375,
                        "pitch": 0.2892516553401947,
                        "yaw": -0.103515625
                    }
                },
                "velocity": {
                    "x": -1.3001076695218217e-05,
                    "y": 1.7709908206597902e-05,
                    "z": 0.00012322656402830034
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.199018195271492,
        "expert_target_speed": 0.0,
        "target_point": [
            29.180282552236157,
            2.00600615932528
        ],
        "target_point_next": [
            29.180282552236157,
            2.00600615932528
        ]
    },
    "520": {
        "acceleration": [
            0.3038370609283447,
            0.35418564081192017,
            0.0031532347202301025
        ],
        "angular_velocity": [
            0.27061575651168823,
            -0.0464569628238678,
            3.161351203918457
        ],
        "forward_vector": [
            -0.9974289536476135,
            0.06863566488027573,
            -0.020604582503437996
        ],
        "right_vector": [
            -0.0686168447136879,
            -0.9976417422294617,
            -0.0016199200181290507
        ],
        "location": [
            2177.287353515625,
            2524.042236328125,
            365.0030517578125
        ],
        "rotation": [
            0.09283433109521866,
            -1.1806391477584839,
            176.06353759765625
        ],
        "velocity": [
            -0.4797648787498474,
            -0.052180077880620956,
            -0.009911002591252327
        ],
        "speed": 0.48259413528293466,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 6.135629653930664,
        "front_vehicle_info": {
            "id": 48755,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2171.16796875,
                2524.47509765625,
                364.89483642578125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "217,217,217"
        },
        "other_vehicles": [
            {
                "id": 48788,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.670992374420166,
                "transform": {
                    "location": {
                        "x": 2147.51953125,
                        "y": 2527.3603515625,
                        "z": 364.7553405761719
                    },
                    "rotation": {
                        "roll": -6.103513442212716e-05,
                        "pitch": -0.20065045356750488,
                        "yaw": 0.22501638531684875
                    }
                },
                "velocity": {
                    "x": 1.6709791421890259,
                    "y": 0.0021126125939190388,
                    "z": -0.006301278714090586
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48787,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.5199247598648071,
                "transform": {
                    "location": {
                        "x": 2227.69970703125,
                        "y": 2524.27783203125,
                        "z": 366.2778015136719
                    },
                    "rotation": {
                        "roll": -0.009460448287427425,
                        "pitch": -1.7016595602035522,
                        "yaw": -179.80702209472656
                    }
                },
                "velocity": {
                    "x": -1.5192158222198486,
                    "y": -0.0027016529347747564,
                    "z": -0.04633781313896179
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.005459947977215052,
                "transform": {
                    "location": {
                        "x": 2185.044677734375,
                        "y": 2467.8408203125,
                        "z": 364.84625244140625
                    },
                    "rotation": {
                        "roll": -0.0005493275239132345,
                        "pitch": 0.22624316811561584,
                        "yaw": 89.96800231933594
                    }
                },
                "velocity": {
                    "x": -2.9248238206491806e-05,
                    "y": -0.005459097679704428,
                    "z": 9.181200584862381e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.187765598297119,
                "transform": {
                    "location": {
                        "x": 2212.510009765625,
                        "y": 2524.286865234375,
                        "z": 365.8298034667969
                    },
                    "rotation": {
                        "roll": -0.0038757326547056437,
                        "pitch": -1.7372721433639526,
                        "yaw": -179.4974365234375
                    }
                },
                "velocity": {
                    "x": -4.18602180480957,
                    "y": 0.03227439150214195,
                    "z": -0.11644338071346283
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48786,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.2571905851364136,
                "transform": {
                    "location": {
                        "x": 2187.88720703125,
                        "y": 2560.612548828125,
                        "z": 365.1287536621094
                    },
                    "rotation": {
                        "roll": 0.001677492167800665,
                        "pitch": 0.23316214978694916,
                        "yaw": -89.8897933959961
                    }
                },
                "velocity": {
                    "x": 0.003306102938950062,
                    "y": -1.2571790218353271,
                    "z": 0.004246673546731472
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2170.76904296875,
                        "y": 2527.3251953125,
                        "z": 364.9160461425781
                    },
                    "rotation": {
                        "roll": 0.00019276134844403714,
                        "pitch": 0.9676874876022339,
                        "yaw": -0.1108398362994194
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.028366710990667343,
                "transform": {
                    "location": {
                        "x": 2185.022216796875,
                        "y": 2487.99267578125,
                        "z": 365.0074157714844
                    },
                    "rotation": {
                        "roll": 0.00011037987860618159,
                        "pitch": 0.4191686809062958,
                        "yaw": 89.94915008544922
                    }
                },
                "velocity": {
                    "x": 6.890232907608151e-05,
                    "y": 0.028328828513622284,
                    "z": -0.0014639091677963734
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48789,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.04705548286438,
                "transform": {
                    "location": {
                        "x": 2185.148681640625,
                        "y": 2455.186279296875,
                        "z": 364.7533264160156
                    },
                    "rotation": {
                        "roll": -0.0001830418623285368,
                        "pitch": 0.7124501466751099,
                        "yaw": 90.28952026367188
                    }
                },
                "velocity": {
                    "x": -0.03364147990942001,
                    "y": 2.046663761138916,
                    "z": 0.021732309833168983
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48790,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.2527541518211365,
                "transform": {
                    "location": {
                        "x": 2187.77685546875,
                        "y": 2576.300537109375,
                        "z": 365.0032043457031
                    },
                    "rotation": {
                        "roll": 0.001926364260725677,
                        "pitch": 0.3569115102291107,
                        "yaw": -89.93976593017578
                    }
                },
                "velocity": {
                    "x": 8.709025132702664e-05,
                    "y": 0.0016048967372626066,
                    "z": 0.2527490556240082
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.6927883625030518,
                "transform": {
                    "location": {
                        "x": 2187.71875,
                        "y": 2537.20654296875,
                        "z": 365.1695861816406
                    },
                    "rotation": {
                        "roll": -0.0007018885225988925,
                        "pitch": -0.2482227236032486,
                        "yaw": -93.13724517822266
                    }
                },
                "velocity": {
                    "x": -0.1774614304304123,
                    "y": -2.6869335174560547,
                    "z": -0.0020656967535614967
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0004306216724216938,
                "transform": {
                    "location": {
                        "x": 2185.022705078125,
                        "y": 2478.02880859375,
                        "z": 364.9215393066406
                    },
                    "rotation": {
                        "roll": -0.0014343271031975746,
                        "pitch": 0.35495808720588684,
                        "yaw": 89.55525970458984
                    }
                },
                "velocity": {
                    "x": 0.00031073461286723614,
                    "y": -0.0002863132976926863,
                    "z": 8.30886565381661e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00015576246369164437,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.78143310546875
                    },
                    "rotation": {
                        "roll": 0.0032052064780145884,
                        "pitch": 0.2177600860595703,
                        "yaw": -179.8240966796875
                    }
                },
                "velocity": {
                    "x": 1.4257989278121386e-05,
                    "y": 9.849064554146025e-06,
                    "z": 0.00015479551802854985
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0004457428294699639,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0004395902797114104,
                        "pitch": 0.2198432832956314,
                        "yaw": 179.87509155273438
                    }
                },
                "velocity": {
                    "x": -2.299245352332946e-05,
                    "y": 2.0677438442362472e-05,
                    "z": -0.0004446689272299409
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.127387523651123,
                "transform": {
                    "location": {
                        "x": 2187.904052734375,
                        "y": 2548.7900390625,
                        "z": 365.16021728515625
                    },
                    "rotation": {
                        "roll": 0.003205270040780306,
                        "pitch": 0.38032540678977966,
                        "yaw": -89.80172729492188
                    }
                },
                "velocity": {
                    "x": 0.008483320474624634,
                    "y": -4.127375602722168,
                    "z": 0.004912176169455051
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.010009765625,
                        "y": 2498.60302734375,
                        "z": 365.0719909667969
                    },
                    "rotation": {
                        "roll": 0.0012356420047581196,
                        "pitch": 0.3101520538330078,
                        "yaw": 90.07780456542969
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.0048828125,
                        "y": 2508.85888671875,
                        "z": 365.1201477050781
                    },
                    "rotation": {
                        "roll": 0.0016126481350511312,
                        "pitch": 0.20036359131336212,
                        "yaw": 90.12260437011719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0027621195185929537,
                "transform": {
                    "location": {
                        "x": 2200.540771484375,
                        "y": 2524.274169921875,
                        "z": 365.5149230957031
                    },
                    "rotation": {
                        "roll": -0.02349853515625,
                        "pitch": -1.671661376953125,
                        "yaw": -178.9539031982422
                    }
                },
                "velocity": {
                    "x": 0.0026960137765854597,
                    "y": 0.0005982855800539255,
                    "z": 5.355609391699545e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.689933535293676e-05,
                "transform": {
                    "location": {
                        "x": 2160.76708984375,
                        "y": 2527.346923828125,
                        "z": 364.7472839355469
                    },
                    "rotation": {
                        "roll": -0.00286865234375,
                        "pitch": 0.2892516553401947,
                        "yaw": -0.103515625
                    }
                },
                "velocity": {
                    "x": -1.25115730043035e-05,
                    "y": 8.794202130957274e-07,
                    "z": 2.3796246750862338e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.23400172591209412,
        "expert_target_speed": 0.0,
        "target_point": [
            29.082898130840224,
            1.5167091495619962
        ],
        "target_point_next": [
            29.082898130840224,
            1.5167091495619962
        ]
    },
    "525": {
        "acceleration": [
            0.1349860429763794,
            -0.3139035403728485,
            -0.0022895820438861847
        ],
        "angular_velocity": [
            -0.4278130829334259,
            0.022495180368423462,
            3.0575926303863525
        ],
        "forward_vector": [
            -0.9982277154922485,
            0.05575910210609436,
            -0.020795632153749466
        ],
        "right_vector": [
            -0.05574265494942665,
            -0.9984442591667175,
            -0.0013701390707865357
        ],
        "location": [
            2177.178955078125,
            2524.031005859375,
            365.0010070800781
        ],
        "rotation": [
            0.07852019369602203,
            -1.1915879249572754,
            176.80288696289062
        ],
        "velocity": [
            -0.40110504627227783,
            -0.05994643643498421,
            -0.009324541315436363
        ],
        "speed": 0.40555990110751794,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 6.028303623199463,
        "front_vehicle_info": {
            "id": 48755,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2171.16796875,
                2524.47509765625,
                364.89483642578125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "217,217,217"
        },
        "other_vehicles": [
            {
                "id": 48788,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.0005853176116943,
                "transform": {
                    "location": {
                        "x": 2148.022216796875,
                        "y": 2527.361083984375,
                        "z": 364.7535095214844
                    },
                    "rotation": {
                        "roll": -0.0005493164644576609,
                        "pitch": -0.20742599666118622,
                        "yaw": 0.1733434796333313
                    }
                },
                "velocity": {
                    "x": 2.000572443008423,
                    "y": -0.0008529311162419617,
                    "z": -0.007063388824462891
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48787,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.7140681743621826,
                "transform": {
                    "location": {
                        "x": 2227.169189453125,
                        "y": 2524.27685546875,
                        "z": 366.2613830566406
                    },
                    "rotation": {
                        "roll": -0.005126953590661287,
                        "pitch": -1.616241216659546,
                        "yaw": -179.916015625
                    }
                },
                "velocity": {
                    "x": -2.7127509117126465,
                    "y": -0.005130610894411802,
                    "z": -0.08439121395349503
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0014819155912846327,
                "transform": {
                    "location": {
                        "x": 2185.044677734375,
                        "y": 2467.842529296875,
                        "z": 364.8463134765625
                    },
                    "rotation": {
                        "roll": -0.00021363716223277152,
                        "pitch": 0.46338048577308655,
                        "yaw": 89.968017578125
                    }
                },
                "velocity": {
                    "x": 0.00011076699593104422,
                    "y": -0.001411288045346737,
                    "z": -0.00043825857574120164
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.0440322160720825,
                "transform": {
                    "location": {
                        "x": 2211.79736328125,
                        "y": 2524.2919921875,
                        "z": 365.81011962890625
                    },
                    "rotation": {
                        "roll": -0.0671081468462944,
                        "pitch": -2.0803184509277344,
                        "yaw": -178.5519256591797
                    }
                },
                "velocity": {
                    "x": -1.0434967279434204,
                    "y": 0.016906948760151863,
                    "z": -0.02884356863796711
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48786,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.1574859619140625,
                "transform": {
                    "location": {
                        "x": 2187.88720703125,
                        "y": 2560.16845703125,
                        "z": 365.1305236816406
                    },
                    "rotation": {
                        "roll": 0.0017798376502469182,
                        "pitch": 0.313027560710907,
                        "yaw": -89.90074920654297
                    }
                },
                "velocity": {
                    "x": 0.0036854564677923918,
                    "y": -2.1574714183807373,
                    "z": 0.0070030116476118565
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2170.76904296875,
                        "y": 2527.3251953125,
                        "z": 364.9160461425781
                    },
                    "rotation": {
                        "roll": 0.00019276134844403714,
                        "pitch": 0.9676874876022339,
                        "yaw": -0.1108398362994194
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.7473217248916626,
                "transform": {
                    "location": {
                        "x": 2185.022216796875,
                        "y": 2488.083251953125,
                        "z": 365.0071716308594
                    },
                    "rotation": {
                        "roll": -0.0008850504527799785,
                        "pitch": 0.503343939781189,
                        "yaw": 89.95369720458984
                    }
                },
                "velocity": {
                    "x": -0.0019036171725019813,
                    "y": 0.7472997903823853,
                    "z": 0.00540363322943449
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48789,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.18344244360923767,
                "transform": {
                    "location": {
                        "x": 2185.143798828125,
                        "y": 2455.634521484375,
                        "z": 364.75982666015625
                    },
                    "rotation": {
                        "roll": 0.009914275258779526,
                        "pitch": 0.5078518390655518,
                        "yaw": 90.54263305664062
                    }
                },
                "velocity": {
                    "x": 0.002610906260088086,
                    "y": 0.18342222273349762,
                    "z": 0.0007775687845423818
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48790,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.06168477609753609,
                "transform": {
                    "location": {
                        "x": 2187.77685546875,
                        "y": 2576.300537109375,
                        "z": 365.04229736328125
                    },
                    "rotation": {
                        "roll": 0.0020461215171962976,
                        "pitch": 0.35781994462013245,
                        "yaw": -89.93975830078125
                    }
                },
                "velocity": {
                    "x": 5.371520819608122e-05,
                    "y": 0.00040023631299845874,
                    "z": 0.06168345361948013
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48778,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.173543691635132,
                "transform": {
                    "location": {
                        "x": 2187.67236328125,
                        "y": 2536.487548828125,
                        "z": 365.1674499511719
                    },
                    "rotation": {
                        "roll": 0.025224100798368454,
                        "pitch": -0.009302716702222824,
                        "yaw": -93.35089874267578
                    }
                },
                "velocity": {
                    "x": -0.20898546278476715,
                    "y": -3.166644334793091,
                    "z": 0.008285264484584332
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0013105340767651796,
                "transform": {
                    "location": {
                        "x": 2185.022705078125,
                        "y": 2478.029296875,
                        "z": 364.9210510253906
                    },
                    "rotation": {
                        "roll": -0.0035400441847741604,
                        "pitch": 0.4282050132751465,
                        "yaw": 89.55528259277344
                    }
                },
                "velocity": {
                    "x": 7.875456503825262e-06,
                    "y": -0.00011039867968065664,
                    "z": 0.001305852085351944
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0003132432175334543,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.0027592412661761045,
                        "pitch": 0.21778057515621185,
                        "yaw": -179.82408142089844
                    }
                },
                "velocity": {
                    "x": 5.213916210777825e-06,
                    "y": 7.427537639159709e-06,
                    "z": -0.0003131117264274508
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0006168196559883654,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0004395902797114104,
                        "pitch": 0.2198432832956314,
                        "yaw": 179.87509155273438
                    }
                },
                "velocity": {
                    "x": -3.084398849750869e-05,
                    "y": 2.954807030164375e-07,
                    "z": -0.0006160479388199747
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.2617504596710205,
                "transform": {
                    "location": {
                        "x": 2187.906005859375,
                        "y": 2547.83251953125,
                        "z": 365.16143798828125
                    },
                    "rotation": {
                        "roll": 0.0007038346957415342,
                        "pitch": 0.032498039305210114,
                        "yaw": -89.85215759277344
                    }
                },
                "velocity": {
                    "x": 0.0055200099013745785,
                    "y": -3.26173996925354,
                    "z": 0.006160831544548273
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.010009765625,
                        "y": 2498.60302734375,
                        "z": 365.0719909667969
                    },
                    "rotation": {
                        "roll": 0.0012356420047581196,
                        "pitch": 0.3101520538330078,
                        "yaw": 90.07780456542969
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.0048828125,
                        "y": 2508.85888671875,
                        "z": 365.1201477050781
                    },
                    "rotation": {
                        "roll": 0.0016126481350511312,
                        "pitch": 0.20036359131336212,
                        "yaw": 90.12260437011719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0008274391293525696,
                "transform": {
                    "location": {
                        "x": 2200.539306640625,
                        "y": 2524.274169921875,
                        "z": 365.5151062011719
                    },
                    "rotation": {
                        "roll": -0.028106683865189552,
                        "pitch": -1.4815089702606201,
                        "yaw": -178.95404052734375
                    }
                },
                "velocity": {
                    "x": 0.000687210529576987,
                    "y": 0.0002914119395427406,
                    "z": 0.00035703828325495124
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.775539026828483e-05,
                "transform": {
                    "location": {
                        "x": 2160.76708984375,
                        "y": 2527.346923828125,
                        "z": 364.7472839355469
                    },
                    "rotation": {
                        "roll": -0.00286865234375,
                        "pitch": 0.2892516553401947,
                        "yaw": -0.103515625
                    }
                },
                "velocity": {
                    "x": 1.6103684856716427e-06,
                    "y": -1.276021430385299e-05,
                    "z": -8.680779137648642e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.2808878421783447,
        "expert_target_speed": 0.0,
        "target_point": [
            28.992444148987072,
            1.1240581054470415
        ],
        "target_point_next": [
            28.992444148987072,
            1.1240581054470415
        ]
    },
    "530": {
        "acceleration": [
            0.4134821891784668,
            0.35539305210113525,
            0.025008590891957283
        ],
        "angular_velocity": [
            0.31674903631210327,
            -0.031173598021268845,
            1.9381181001663208
        ],
        "forward_vector": [
            -0.9987629652023315,
            0.0451837033033371,
            -0.020760951563715935
        ],
        "right_vector": [
            -0.04517011716961861,
            -0.9989786744117737,
            -0.0011231249663978815
        ],
        "location": [
            2177.087646484375,
            2524.02099609375,
            364.9990539550781
        ],
        "rotation": [
            0.06436420977115631,
            -1.1896003484725952,
            177.40972900390625
        ],
        "velocity": [
            -0.3350851237773895,
            -0.038811929523944855,
            -0.006793088745325804
        ],
        "speed": 0.33732537119268113,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 5.937983989715576,
        "front_vehicle_info": {
            "id": 48755,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2171.16796875,
                2524.47509765625,
                364.89483642578125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "217,217,217"
        },
        "other_vehicles": [
            {
                "id": 48788,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.2858262062072754,
                "transform": {
                    "location": {
                        "x": 2148.168701171875,
                        "y": 2527.361083984375,
                        "z": 364.75335693359375
                    },
                    "rotation": {
                        "roll": -0.0010070798452943563,
                        "pitch": -0.24881011247634888,
                        "yaw": 0.15244606137275696
                    }
                },
                "velocity": {
                    "x": 0.28582045435905457,
                    "y": -0.0002536083629820496,
                    "z": -0.0017969512846320868
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48787,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.272953987121582,
                "transform": {
                    "location": {
                        "x": 2226.288330078125,
                        "y": 2524.275634765625,
                        "z": 366.2341003417969
                    },
                    "rotation": {
                        "roll": -0.0025634763296693563,
                        "pitch": -1.5326875448226929,
                        "yaw": -179.9263916015625
                    }
                },
                "velocity": {
                    "x": -4.2709197998046875,
                    "y": -0.00229899981059134,
                    "z": -0.13181045651435852
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0008236352587118745,
                "transform": {
                    "location": {
                        "x": 2185.044677734375,
                        "y": 2467.843017578125,
                        "z": 364.8463134765625
                    },
                    "rotation": {
                        "roll": 0.0004566003626678139,
                        "pitch": 0.5121821761131287,
                        "yaw": 89.96805572509766
                    }
                },
                "velocity": {
                    "x": 9.186249371850863e-06,
                    "y": -0.0004147053405176848,
                    "z": 0.0007115547196008265
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.9529625773429871,
                "transform": {
                    "location": {
                        "x": 2211.69970703125,
                        "y": 2524.291748046875,
                        "z": 365.8074951171875
                    },
                    "rotation": {
                        "roll": -0.0595703199505806,
                        "pitch": -1.7389183044433594,
                        "yaw": -178.58245849609375
                    }
                },
                "velocity": {
                    "x": -0.9525749683380127,
                    "y": -0.007553518749773502,
                    "z": -0.0261069443076849
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48786,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0009876603726297617,
                "transform": {
                    "location": {
                        "x": 2187.88818359375,
                        "y": 2559.84765625,
                        "z": 365.1311340332031
                    },
                    "rotation": {
                        "roll": 0.0012838231632485986,
                        "pitch": -0.075985848903656,
                        "yaw": -89.90182495117188
                    }
                },
                "velocity": {
                    "x": -9.746125579113141e-05,
                    "y": -0.00037690738099627197,
                    "z": 0.0009076976566575468
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.002332241041585803,
                "transform": {
                    "location": {
                        "x": 2170.76904296875,
                        "y": 2527.3251953125,
                        "z": 364.9158020019531
                    },
                    "rotation": {
                        "roll": 0.0002670494723133743,
                        "pitch": 0.9685617685317993,
                        "yaw": -0.1108093187212944
                    }
                },
                "velocity": {
                    "x": -1.642927418288309e-05,
                    "y": 1.0459509212523699e-05,
                    "z": -0.002332159783691168
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.6184488534927368,
                "transform": {
                    "location": {
                        "x": 2185.022705078125,
                        "y": 2488.3828125,
                        "z": 365.0085754394531
                    },
                    "rotation": {
                        "roll": -0.0015563787892460823,
                        "pitch": 0.5916309356689453,
                        "yaw": 90.00242614746094
                    }
                },
                "velocity": {
                    "x": -0.002050368580967188,
                    "y": 1.6184169054031372,
                    "z": 0.009957379661500454
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48789,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.0382541418075562,
                "transform": {
                    "location": {
                        "x": 2185.14208984375,
                        "y": 2455.76318359375,
                        "z": 364.76031494140625
                    },
                    "rotation": {
                        "roll": 0.006843568757176399,
                        "pitch": 0.6087405681610107,
                        "yaw": 90.59591674804688
                    }
                },
                "velocity": {
                    "x": -0.01780608668923378,
                    "y": 1.038040041923523,
                    "z": 0.011285485699772835
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48790,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.221243381500244,
                "transform": {
                    "location": {
                        "x": 2187.78076171875,
                        "y": 2575.985595703125,
                        "z": 365.0481872558594
                    },
                    "rotation": {
                        "roll": 0.0006701215752400458,
                        "pitch": 0.3967519998550415,
                        "yaw": -89.80998992919922
                    }
                },
                "velocity": {
                    "x": 0.023295892402529716,
                    "y": -2.2210886478424072,
                    "z": 0.012020540423691273
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.1519157737493515,
                "transform": {
                    "location": {
                        "x": 2185.02294921875,
                        "y": 2478.0390625,
                        "z": 364.9210205078125
                    },
                    "rotation": {
                        "roll": -0.002471938030794263,
                        "pitch": 0.45117494463920593,
                        "yaw": 89.56034088134766
                    }
                },
                "velocity": {
                    "x": 0.0006833313382230699,
                    "y": 0.15190845727920532,
                    "z": 0.0013260745909065008
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0003021722368430346,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.0023305644281208515,
                        "pitch": 0.21771226823329926,
                        "yaw": -179.82403564453125
                    }
                },
                "velocity": {
                    "x": 5.843639428348979e-06,
                    "y": -1.1593801900744438e-05,
                    "z": -0.00030189318931661546
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00026977379457093775,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0004395902797114104,
                        "pitch": 0.2198432832956314,
                        "yaw": 179.87509155273438
                    }
                },
                "velocity": {
                    "x": 5.302838872012217e-06,
                    "y": -1.4837015669399989e-06,
                    "z": 0.0002697175950743258
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.41627025604248047,
                "transform": {
                    "location": {
                        "x": 2187.9072265625,
                        "y": 2547.260498046875,
                        "z": 365.1619567871094
                    },
                    "rotation": {
                        "roll": 0.0019954026211053133,
                        "pitch": -0.36498481035232544,
                        "yaw": -89.79289245605469
                    }
                },
                "velocity": {
                    "x": -0.002614568918943405,
                    "y": -0.416259765625,
                    "z": 0.0013776301639154553
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.010009765625,
                        "y": 2498.60302734375,
                        "z": 365.0719909667969
                    },
                    "rotation": {
                        "roll": 0.0012356420047581196,
                        "pitch": 0.3101520538330078,
                        "yaw": 90.07780456542969
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.0048828125,
                        "y": 2508.85888671875,
                        "z": 365.1201477050781
                    },
                    "rotation": {
                        "roll": 0.0016126481350511312,
                        "pitch": 0.20036359131336212,
                        "yaw": 90.12260437011719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00013595301425084472,
                "transform": {
                    "location": {
                        "x": 2200.538818359375,
                        "y": 2524.274169921875,
                        "z": 365.51519775390625
                    },
                    "rotation": {
                        "roll": -0.029083240777254105,
                        "pitch": -1.4389909505844116,
                        "yaw": -178.9541778564453
                    }
                },
                "velocity": {
                    "x": 5.4821222875034437e-05,
                    "y": -6.605381349800155e-05,
                    "z": -0.00010542652307776734
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.195858127786778e-05,
                "transform": {
                    "location": {
                        "x": 2160.76708984375,
                        "y": 2527.346923828125,
                        "z": 364.7472839355469
                    },
                    "rotation": {
                        "roll": -0.00286865234375,
                        "pitch": 0.2892516553401947,
                        "yaw": -0.103515625
                    }
                },
                "velocity": {
                    "x": -1.2672580851358362e-05,
                    "y": 8.971606462182535e-07,
                    "z": 3.998903775936924e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.31646519899368286,
        "expert_target_speed": 0.0,
        "target_point": [
            28.9119602949059,
            0.8028010732061178
        ],
        "target_point_next": [
            28.9119602949059,
            0.8028010732061178
        ]
    },
    "535": {
        "acceleration": [
            1.237253189086914,
            -0.01961149275302887,
            0.014189528301358223
        ],
        "angular_velocity": [
            -0.0889967754483223,
            -0.18354330956935883,
            1.0829020738601685
        ],
        "forward_vector": [
            -0.9991172552108765,
            0.036480773240327835,
            -0.020825430750846863
        ],
        "right_vector": [
            -0.036467425525188446,
            -0.9993342757225037,
            -0.0010206564329564571
        ],
        "location": [
            2177.013671875,
            2524.0126953125,
            364.9976806640625
        ],
        "rotation": [
            0.05849200859665871,
            -1.1932954788208008,
            177.9088897705078
        ],
        "velocity": [
            -0.23837389051914215,
            -0.03612291067838669,
            -0.0052542113699018955
        ],
        "speed": 0.2410953677636936,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 5.864864826202393,
        "front_vehicle_info": {
            "id": 48755,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2171.16796875,
                2524.47509765625,
                364.89483642578125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "217,217,217"
        },
        "other_vehicles": [
            {
                "id": 48788,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.1285494565963745,
                "transform": {
                    "location": {
                        "x": 2148.349609375,
                        "y": 2527.361083984375,
                        "z": 364.7521667480469
                    },
                    "rotation": {
                        "roll": -0.000213623046875,
                        "pitch": -0.2065449059009552,
                        "yaw": 0.16504377126693726
                    }
                },
                "velocity": {
                    "x": 1.1285457611083984,
                    "y": -0.0006418143166229129,
                    "z": -0.0028561686631292105
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48787,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.380115509033203,
                "transform": {
                    "location": {
                        "x": 2225.046630859375,
                        "y": 2524.274658203125,
                        "z": 366.1964416503906
                    },
                    "rotation": {
                        "roll": -0.0030822756234556437,
                        "pitch": -1.569604754447937,
                        "yaw": -179.95965576171875
                    }
                },
                "velocity": {
                    "x": -5.3776092529296875,
                    "y": -0.0020258459262549877,
                    "z": -0.1641896814107895
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00014475105854216963,
                "transform": {
                    "location": {
                        "x": 2185.044677734375,
                        "y": 2467.843017578125,
                        "z": 364.8463134765625
                    },
                    "rotation": {
                        "roll": 0.00018623725918587297,
                        "pitch": 0.5275501012802124,
                        "yaw": 89.96807861328125
                    }
                },
                "velocity": {
                    "x": 6.532243423862383e-05,
                    "y": -8.761800563661382e-05,
                    "z": 9.491540549788624e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.2497737407684326,
                "transform": {
                    "location": {
                        "x": 2211.2822265625,
                        "y": 2524.28955078125,
                        "z": 365.7960205078125
                    },
                    "rotation": {
                        "roll": -0.023834221065044403,
                        "pitch": -1.3732572793960571,
                        "yaw": -178.91915893554688
                    }
                },
                "velocity": {
                    "x": -2.2489116191864014,
                    "y": -0.010426915250718594,
                    "z": -0.06139650195837021
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48786,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.2038596868515015,
                "transform": {
                    "location": {
                        "x": 2187.88818359375,
                        "y": 2559.671875,
                        "z": 365.1322326660156
                    },
                    "rotation": {
                        "roll": 0.0012234277091920376,
                        "pitch": 0.23383834958076477,
                        "yaw": -89.92290496826172
                    }
                },
                "velocity": {
                    "x": -6.404690066119656e-05,
                    "y": -1.203858494758606,
                    "z": 0.0016993999015539885
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.19113850593566895,
                "transform": {
                    "location": {
                        "x": 2170.782958984375,
                        "y": 2527.325439453125,
                        "z": 364.9160461425781
                    },
                    "rotation": {
                        "roll": -0.00036621090839616954,
                        "pitch": 0.9859992265701294,
                        "yaw": -0.11349484324455261
                    }
                },
                "velocity": {
                    "x": 0.19108173251152039,
                    "y": -0.0010517352493479848,
                    "z": 0.004537878092378378
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.6493295431137085,
                "transform": {
                    "location": {
                        "x": 2185.022705078125,
                        "y": 2488.8798828125,
                        "z": 365.0123291015625
                    },
                    "rotation": {
                        "roll": -0.00018311530584469438,
                        "pitch": 0.5201939940452576,
                        "yaw": 90.01016998291016
                    }
                },
                "velocity": {
                    "x": -0.0030651253182440996,
                    "y": 1.6492953300476074,
                    "z": 0.010186891071498394
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48789,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.7823299169540405,
                "transform": {
                    "location": {
                        "x": 2185.136474609375,
                        "y": 2456.11474609375,
                        "z": 364.7635192871094
                    },
                    "rotation": {
                        "roll": 0.005763720255345106,
                        "pitch": 0.6764140725135803,
                        "yaw": 90.65838623046875
                    }
                },
                "velocity": {
                    "x": -0.030688341706991196,
                    "y": 1.781970500946045,
                    "z": 0.018420036882162094
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48790,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.1100385189056396,
                "transform": {
                    "location": {
                        "x": 2187.78662109375,
                        "y": 2575.30859375,
                        "z": 365.0518798828125
                    },
                    "rotation": {
                        "roll": 0.0013066885294392705,
                        "pitch": 0.3752983808517456,
                        "yaw": -89.67977142333984
                    }
                },
                "velocity": {
                    "x": 0.03245452418923378,
                    "y": -3.1098275184631348,
                    "z": 0.016104353591799736
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.9317057728767395,
                "transform": {
                    "location": {
                        "x": 2185.023193359375,
                        "y": 2478.197998046875,
                        "z": 364.9220886230469
                    },
                    "rotation": {
                        "roll": -0.005493197590112686,
                        "pitch": 0.4953799247741699,
                        "yaw": 89.6102066040039
                    }
                },
                "velocity": {
                    "x": 0.0009555985452607274,
                    "y": 0.9316222071647644,
                    "z": 0.012443522922694683
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00043225291301496327,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.002991429530084133,
                        "pitch": 0.217725932598114,
                        "yaw": -179.82403564453125
                    }
                },
                "velocity": {
                    "x": 3.503523657855112e-06,
                    "y": 1.1187500604137313e-05,
                    "z": -0.00043209391878917813
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0004446507664397359,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0004395902797114104,
                        "pitch": 0.2198432832956314,
                        "yaw": 179.87509155273438
                    }
                },
                "velocity": {
                    "x": 4.0125100895238575e-06,
                    "y": -5.888630039407872e-05,
                    "z": -0.00044071601587347686
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.134814977645874,
                "transform": {
                    "location": {
                        "x": 2187.9072265625,
                        "y": 2547.1376953125,
                        "z": 365.16217041015625
                    },
                    "rotation": {
                        "roll": 0.0015509416116401553,
                        "pitch": -6.147169915493578e-05,
                        "yaw": -89.78047943115234
                    }
                },
                "velocity": {
                    "x": 0.0016051451675593853,
                    "y": -1.1348129510879517,
                    "z": 0.0014163684099912643
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.1872681826353073,
                "transform": {
                    "location": {
                        "x": 2185.010009765625,
                        "y": 2498.615966796875,
                        "z": 365.072021484375
                    },
                    "rotation": {
                        "roll": 0.0009624285739846528,
                        "pitch": 0.2896614670753479,
                        "yaw": 90.07184600830078
                    }
                },
                "velocity": {
                    "x": 0.0004045861423946917,
                    "y": 0.18725885450839996,
                    "z": 0.0018244361272081733
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.0048828125,
                        "y": 2508.85888671875,
                        "z": 365.1201477050781
                    },
                    "rotation": {
                        "roll": 0.0016126481350511312,
                        "pitch": 0.20036359131336212,
                        "yaw": 90.12260437011719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00010686140740290284,
                "transform": {
                    "location": {
                        "x": 2200.538818359375,
                        "y": 2524.274169921875,
                        "z": 365.51519775390625
                    },
                    "rotation": {
                        "roll": -0.0294494591653347,
                        "pitch": -1.4287935495376587,
                        "yaw": -178.95423889160156
                    }
                },
                "velocity": {
                    "x": -1.826316110964399e-05,
                    "y": 5.566413528867997e-05,
                    "z": 8.937181701185182e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.711746830958873e-05,
                "transform": {
                    "location": {
                        "x": 2160.76708984375,
                        "y": 2527.346923828125,
                        "z": 364.7472839355469
                    },
                    "rotation": {
                        "roll": -0.00286865234375,
                        "pitch": 0.2892516553401947,
                        "yaw": -0.103515625
                    }
                },
                "velocity": {
                    "x": -1.1344291124260053e-05,
                    "y": 7.153490173550381e-07,
                    "z": 3.53341456502676e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.35941872000694275,
        "expert_target_speed": 0.0,
        "target_point": [
            28.84423445636976,
            0.5399036709790481
        ],
        "target_point_next": [
            28.84423445636976,
            0.5399036709790481
        ]
    },
    "540": {
        "acceleration": [
            -0.6053093075752258,
            0.10259151458740234,
            -0.024558641016483307
        ],
        "angular_velocity": [
            -0.05770134925842285,
            0.1526196300983429,
            1.888302206993103
        ],
        "forward_vector": [
            -0.9993301630020142,
            0.03006819635629654,
            -0.020861661061644554
        ],
        "right_vector": [
            -0.0300565417855978,
            -0.9995478391647339,
            -0.0008721072808839381
        ],
        "location": [
            2176.959716796875,
            2524.0068359375,
            364.99658203125
        ],
        "rotation": [
            0.04997894912958145,
            -1.1953718662261963,
            178.27658081054688
        ],
        "velocity": [
            -0.20244809985160828,
            -0.022236671298742294,
            -0.005270080640912056
        ],
        "speed": 0.20366566397892175,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 5.811537265777588,
        "front_vehicle_info": {
            "id": 48755,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2171.16796875,
                2524.47509765625,
                364.89483642578125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "217,217,217"
        },
        "other_vehicles": [
            {
                "id": 48788,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.8578649759292603,
                "transform": {
                    "location": {
                        "x": 2148.723876953125,
                        "y": 2527.361083984375,
                        "z": 364.750732421875
                    },
                    "rotation": {
                        "roll": -0.0011901854304596782,
                        "pitch": -0.20050019025802612,
                        "yaw": 0.15852513909339905
                    }
                },
                "velocity": {
                    "x": 1.857853651046753,
                    "y": -0.0010394580895081162,
                    "z": -0.006387061905115843
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48787,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.69253396987915,
                "transform": {
                    "location": {
                        "x": 2223.671875,
                        "y": 2524.2744140625,
                        "z": 366.1541748046875
                    },
                    "rotation": {
                        "roll": -0.004028319846838713,
                        "pitch": -1.687063455581665,
                        "yaw": -179.97433471679688
                    }
                },
                "velocity": {
                    "x": -5.689871311187744,
                    "y": -0.0035159930121153593,
                    "z": -0.17406201362609863
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00035709183430299163,
                "transform": {
                    "location": {
                        "x": 2185.044677734375,
                        "y": 2467.843017578125,
                        "z": 364.8463134765625
                    },
                    "rotation": {
                        "roll": 0.00018623725918587297,
                        "pitch": 0.5275501012802124,
                        "yaw": 89.96807861328125
                    }
                },
                "velocity": {
                    "x": -3.168021430610679e-05,
                    "y": -1.4386474504135549e-05,
                    "z": -0.0003553926944732666
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.007054824382066727,
                "transform": {
                    "location": {
                        "x": 2210.88818359375,
                        "y": 2524.287841796875,
                        "z": 365.7850036621094
                    },
                    "rotation": {
                        "roll": -0.031249994412064552,
                        "pitch": -1.876123070716858,
                        "yaw": -179.26779174804688
                    }
                },
                "velocity": {
                    "x": -0.007025596220046282,
                    "y": 0.0005281675257720053,
                    "z": 0.0003641213697846979
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48786,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.163893699645996,
                "transform": {
                    "location": {
                        "x": 2187.888671875,
                        "y": 2559.232177734375,
                        "z": 365.13372802734375
                    },
                    "rotation": {
                        "roll": 0.0006956095458008349,
                        "pitch": 0.31952306628227234,
                        "yaw": -89.89623260498047
                    }
                },
                "velocity": {
                    "x": 0.004188864957541227,
                    "y": -2.1638808250427246,
                    "z": 0.006161174736917019
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.9760514497756958,
                "transform": {
                    "location": {
                        "x": 2170.92578125,
                        "y": 2527.324951171875,
                        "z": 364.91827392578125
                    },
                    "rotation": {
                        "roll": 0.00015301645908039063,
                        "pitch": 1.0500527620315552,
                        "yaw": -0.1109619066119194
                    }
                },
                "velocity": {
                    "x": 0.9758794903755188,
                    "y": -0.0025879202876240015,
                    "z": 0.018138237297534943
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0018671448342502117,
                "transform": {
                    "location": {
                        "x": 2185.0224609375,
                        "y": 2488.919921875,
                        "z": 365.0170593261719
                    },
                    "rotation": {
                        "roll": 0.002327005611732602,
                        "pitch": -0.039915625005960464,
                        "yaw": 89.99003601074219
                    }
                },
                "velocity": {
                    "x": 1.746218003972899e-05,
                    "y": -0.0018658223561942577,
                    "z": -6.805513839935884e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48789,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.2824649810791016,
                "transform": {
                    "location": {
                        "x": 2185.13037109375,
                        "y": 2456.664306640625,
                        "z": 364.7692565917969
                    },
                    "rotation": {
                        "roll": 0.009770646691322327,
                        "pitch": 0.6735044121742249,
                        "yaw": 90.64331817626953
                    }
                },
                "velocity": {
                    "x": -0.0209357813000679,
                    "y": 2.2822353839874268,
                    "z": 0.024702539667487144
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48790,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.873584270477295,
                "transform": {
                    "location": {
                        "x": 2187.794921875,
                        "y": 2574.4306640625,
                        "z": 365.0572204589844
                    },
                    "rotation": {
                        "roll": 0.0014522044220939279,
                        "pitch": 0.3613238036632538,
                        "yaw": -89.56165313720703
                    }
                },
                "velocity": {
                    "x": 0.04175695404410362,
                    "y": -3.873296022415161,
                    "z": 0.022133320569992065
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.1676357984542847,
                "transform": {
                    "location": {
                        "x": 2185.023681640625,
                        "y": 2478.483642578125,
                        "z": 364.9245910644531
                    },
                    "rotation": {
                        "roll": -0.002502440009266138,
                        "pitch": 0.46645408868789673,
                        "yaw": 89.65998840332031
                    }
                },
                "velocity": {
                    "x": -0.0017771474085748196,
                    "y": 1.167594075202942,
                    "z": 0.009715775959193707
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00034858862636610866,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.78143310546875
                    },
                    "rotation": {
                        "roll": 0.00279643340036273,
                        "pitch": 0.2177600860595703,
                        "yaw": -179.82403564453125
                    }
                },
                "velocity": {
                    "x": 8.86697307578288e-06,
                    "y": 1.93679934454849e-05,
                    "z": 0.0003479371953289956
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00014903541887179017,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0004395902797114104,
                        "pitch": 0.2198432832956314,
                        "yaw": 179.87509155273438
                    }
                },
                "velocity": {
                    "x": 2.4231410861830227e-05,
                    "y": 9.892941307043657e-06,
                    "z": -0.00014671920507680625
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.471186399459839,
                "transform": {
                    "location": {
                        "x": 2187.90771484375,
                        "y": 2546.68359375,
                        "z": 365.1626892089844
                    },
                    "rotation": {
                        "roll": 0.0007124686380848289,
                        "pitch": 0.2696695029735565,
                        "yaw": -89.80008697509766
                    }
                },
                "velocity": {
                    "x": 0.005314901936799288,
                    "y": -2.471179962158203,
                    "z": 0.0017943762941285968
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.9944015145301819,
                "transform": {
                    "location": {
                        "x": 2185.009521484375,
                        "y": 2498.76953125,
                        "z": 365.0734558105469
                    },
                    "rotation": {
                        "roll": 0.0001076030166586861,
                        "pitch": 0.228708878159523,
                        "yaw": 90.0432357788086
                    }
                },
                "velocity": {
                    "x": -0.0010996904456987977,
                    "y": 0.9943870306015015,
                    "z": 0.00524560920894146
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.0048828125,
                        "y": 2508.85888671875,
                        "z": 365.1201477050781
                    },
                    "rotation": {
                        "roll": 0.0016126481350511312,
                        "pitch": 0.20036359131336212,
                        "yaw": 90.12260437011719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00029217390692792833,
                "transform": {
                    "location": {
                        "x": 2200.538818359375,
                        "y": 2524.274169921875,
                        "z": 365.51519775390625
                    },
                    "rotation": {
                        "roll": -0.0294494591653347,
                        "pitch": -1.4287935495376587,
                        "yaw": -178.95423889160156
                    }
                },
                "velocity": {
                    "x": -5.7018845836864784e-05,
                    "y": -5.2131340453343e-06,
                    "z": 0.00028650875901803374
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.740198371815495e-05,
                "transform": {
                    "location": {
                        "x": 2160.76708984375,
                        "y": 2527.346923828125,
                        "z": 364.7472839355469
                    },
                    "rotation": {
                        "roll": -0.00286865234375,
                        "pitch": 0.2892516553401947,
                        "yaw": -0.103515625
                    }
                },
                "velocity": {
                    "x": -2.707541000290803e-07,
                    "y": 6.208626928128069e-06,
                    "z": -3.688208380481228e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.3676265776157379,
        "expert_target_speed": 0.0,
        "target_point": [
            28.793350935202813,
            0.3472993115742504
        ],
        "target_point_next": [
            28.793350935202813,
            0.3472993115742504
        ]
    },
    "545": {
        "acceleration": [
            0.9670006036758423,
            -0.05155693739652634,
            0.02201957441866398
        ],
        "angular_velocity": [
            -0.07102961093187332,
            -0.10743454843759537,
            0.1717231124639511
        ],
        "forward_vector": [
            -0.9994502067565918,
            0.02584652230143547,
            -0.020767387002706528
        ],
        "right_vector": [
            -0.025837089866399765,
            -0.9996659755706787,
            -0.000722429365850985
        ],
        "location": [
            2176.921875,
            2524.002685546875,
            364.9958190917969
        ],
        "rotation": [
            0.04140108451247215,
            -1.1899691820144653,
            178.51861572265625
        ],
        "velocity": [
            -0.11075002700090408,
            -0.018908921629190445,
            -0.0018526172498241067
        ],
        "speed": 0.1123526403689733,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 5.7741498947143555,
        "front_vehicle_info": {
            "id": 48755,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2171.16796875,
                2524.47509765625,
                364.89483642578125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "217,217,217"
        },
        "other_vehicles": [
            {
                "id": 48788,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.8713208436965942,
                "transform": {
                    "location": {
                        "x": 2149.233642578125,
                        "y": 2527.361572265625,
                        "z": 364.7489318847656
                    },
                    "rotation": {
                        "roll": -0.0017700194148346782,
                        "pitch": -0.21564272046089172,
                        "yaw": 0.1103883758187294
                    }
                },
                "velocity": {
                    "x": 1.87130868434906,
                    "y": -0.0011613083770498633,
                    "z": -0.0066477772779762745
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48787,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.188066005706787,
                "transform": {
                    "location": {
                        "x": 2222.23779296875,
                        "y": 2524.274658203125,
                        "z": 366.1098327636719
                    },
                    "rotation": {
                        "roll": -9.155274892691523e-05,
                        "pitch": -1.921960473060608,
                        "yaw": 179.92999267578125
                    }
                },
                "velocity": {
                    "x": -4.185973167419434,
                    "y": -0.0008314476581290364,
                    "z": -0.13238848745822906
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.27943411469459534,
                "transform": {
                    "location": {
                        "x": 2185.044677734375,
                        "y": 2467.8720703125,
                        "z": 364.84661865234375
                    },
                    "rotation": {
                        "roll": -0.0010375742567703128,
                        "pitch": 0.5762903690338135,
                        "yaw": 89.95844268798828
                    }
                },
                "velocity": {
                    "x": 0.0013850650284439325,
                    "y": 0.2794252932071686,
                    "z": 0.0017362689832225442
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.002743119141086936,
                "transform": {
                    "location": {
                        "x": 2210.886474609375,
                        "y": 2524.287841796875,
                        "z": 365.7850036621094
                    },
                    "rotation": {
                        "roll": -0.0267333984375,
                        "pitch": -1.6806635856628418,
                        "yaw": -179.2680206298828
                    }
                },
                "velocity": {
                    "x": 0.0026043688412755728,
                    "y": -0.0003732497279997915,
                    "z": 0.000776305387262255
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48786,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.002737197559326887,
                "transform": {
                    "location": {
                        "x": 2187.888671875,
                        "y": 2558.876708984375,
                        "z": 365.13427734375
                    },
                    "rotation": {
                        "roll": 0.0025488361716270447,
                        "pitch": -0.07129351049661636,
                        "yaw": -90.04943084716797
                    }
                },
                "velocity": {
                    "x": 0.0001167098234873265,
                    "y": -0.0019279827829450369,
                    "z": 0.00193946179933846
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.7524571418762207,
                "transform": {
                    "location": {
                        "x": 2171.265625,
                        "y": 2527.32373046875,
                        "z": 364.92431640625
                    },
                    "rotation": {
                        "roll": 0.0006801934796385467,
                        "pitch": 1.0881105661392212,
                        "yaw": -0.0769653245806694
                    }
                },
                "velocity": {
                    "x": 1.7521555423736572,
                    "y": -0.0036002113483846188,
                    "z": 0.032313499599695206
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.002397580537945032,
                "transform": {
                    "location": {
                        "x": 2185.0224609375,
                        "y": 2488.922607421875,
                        "z": 365.01409912109375
                    },
                    "rotation": {
                        "roll": -3.052292231586762e-05,
                        "pitch": 0.33214524388313293,
                        "yaw": 89.99005126953125
                    }
                },
                "velocity": {
                    "x": 3.750765972654335e-05,
                    "y": -0.002298506908118725,
                    "z": 0.0006810663617216051
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48789,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.34917500615119934,
                "transform": {
                    "location": {
                        "x": 2185.12841796875,
                        "y": 2456.86328125,
                        "z": 364.7733154296875
                    },
                    "rotation": {
                        "roll": 0.0064075100235641,
                        "pitch": 0.4593985080718994,
                        "yaw": 90.63835906982422
                    }
                },
                "velocity": {
                    "x": -0.0032586429733783007,
                    "y": 0.3491470515727997,
                    "z": 0.0029834650922566652
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48790,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.604065418243408,
                "transform": {
                    "location": {
                        "x": 2187.8056640625,
                        "y": 2573.368408203125,
                        "z": 365.06353759765625
                    },
                    "rotation": {
                        "roll": 0.003891617525368929,
                        "pitch": 0.3613579571247101,
                        "yaw": -89.47308349609375
                    }
                },
                "velocity": {
                    "x": 0.050588883459568024,
                    "y": -4.603710174560547,
                    "z": 0.026700228452682495
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.7672293186187744,
                "transform": {
                    "location": {
                        "x": 2185.0205078125,
                        "y": 2478.839111328125,
                        "z": 364.9275817871094
                    },
                    "rotation": {
                        "roll": -0.004119835793972015,
                        "pitch": 0.4212792217731476,
                        "yaw": 89.39369201660156
                    }
                },
                "velocity": {
                    "x": -0.008201145566999912,
                    "y": 0.7671816945075989,
                    "z": 0.00241259578615427
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.026990841841325e-05,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.002920140279456973,
                        "pitch": 0.21771226823329926,
                        "yaw": -179.82398986816406
                    }
                },
                "velocity": {
                    "x": 4.2803212636499666e-06,
                    "y": -1.7859265426523052e-05,
                    "z": 8.5787341959076e-06
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0010027760872617364,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0004395902797114104,
                        "pitch": 0.2198432832956314,
                        "yaw": 179.87509155273438
                    }
                },
                "velocity": {
                    "x": -5.656559005728923e-05,
                    "y": 8.372036245418712e-05,
                    "z": -0.0009976729052141309
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.023470401763916,
                "transform": {
                    "location": {
                        "x": 2187.90966796875,
                        "y": 2545.86376953125,
                        "z": 365.1635437011719
                    },
                    "rotation": {
                        "roll": 0.0022319923155009747,
                        "pitch": 0.34942561388015747,
                        "yaw": -89.83719635009766
                    }
                },
                "velocity": {
                    "x": 0.00661997077986598,
                    "y": -4.023464202880859,
                    "z": 0.0025734901428222656
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8532299995422363,
                "transform": {
                    "location": {
                        "x": 2185.00927734375,
                        "y": 2499.13525390625,
                        "z": 365.0755920410156
                    },
                    "rotation": {
                        "roll": -0.00033570200321264565,
                        "pitch": 0.20843003690242767,
                        "yaw": 90.0335693359375
                    }
                },
                "velocity": {
                    "x": -0.0017572067445144057,
                    "y": 1.853201985359192,
                    "z": 0.010026426054537296
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.0048828125,
                        "y": 2508.85888671875,
                        "z": 365.1201477050781
                    },
                    "rotation": {
                        "roll": 0.0016126481350511312,
                        "pitch": 0.20036359131336212,
                        "yaw": 90.12260437011719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0004076150362379849,
                "transform": {
                    "location": {
                        "x": 2200.538818359375,
                        "y": 2524.274169921875,
                        "z": 365.51519775390625
                    },
                    "rotation": {
                        "roll": -0.0294494591653347,
                        "pitch": -1.4287935495376587,
                        "yaw": -178.95423889160156
                    }
                },
                "velocity": {
                    "x": -5.9446541854413226e-05,
                    "y": -7.479423220502213e-05,
                    "z": -0.0003962599439546466
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.5155586004257202,
                "transform": {
                    "location": {
                        "x": 2160.806884765625,
                        "y": 2527.346923828125,
                        "z": 364.7473449707031
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": 0.3148238956928253,
                        "yaw": -0.1096801683306694
                    }
                },
                "velocity": {
                    "x": 0.5155525207519531,
                    "y": -0.001663129311054945,
                    "z": 0.0018740844679996371
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.3926049470901489,
        "expert_target_speed": 0.0,
        "target_point": [
            28.756839163021233,
            0.22055124537924442
        ],
        "target_point_next": [
            28.756839163021233,
            0.22055124537924442
        ]
    },
    "550": {
        "acceleration": [
            -0.769260823726654,
            0.06348706781864166,
            -0.020621489733457565
        ],
        "angular_velocity": [
            -0.009241792373359203,
            0.17785952985286713,
            1.39309561252594
        ],
        "forward_vector": [
            -0.9995391964912415,
            0.022338876500725746,
            -0.020553333684802055
        ],
        "right_vector": [
            -0.022332526743412018,
            -0.9997504949569702,
            -0.0005385547992773354
        ],
        "location": [
            2176.891845703125,
            2523.99951171875,
            364.9951477050781
        ],
        "rotation": [
            0.030863437801599503,
            -1.1777021884918213,
            178.71969604492188
        ],
        "velocity": [
            -0.13126778602600098,
            -0.013061737641692162,
            -0.0028449534438550472
        ],
        "speed": 0.1319160363200334,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 5.744476795196533,
        "front_vehicle_info": {
            "id": 48755,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2171.16796875,
                2524.47509765625,
                364.89483642578125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "217,217,217"
        },
        "other_vehicles": [
            {
                "id": 48788,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.120337724685669,
                "transform": {
                    "location": {
                        "x": 2149.7177734375,
                        "y": 2527.362060546875,
                        "z": 364.7470703125
                    },
                    "rotation": {
                        "roll": -0.0019836428109556437,
                        "pitch": -0.2138054072856903,
                        "yaw": 0.0739358514547348
                    }
                },
                "velocity": {
                    "x": 2.1203248500823975,
                    "y": -0.001431990647688508,
                    "z": -0.007266206666827202
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48787,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0031955535523593426,
                "transform": {
                    "location": {
                        "x": 2221.941162109375,
                        "y": 2524.274658203125,
                        "z": 366.1000671386719
                    },
                    "rotation": {
                        "roll": 0.00064513721736148,
                        "pitch": -2.32494854927063,
                        "yaw": 179.92320251464844
                    }
                },
                "velocity": {
                    "x": 0.0029286479111760855,
                    "y": 0.0005271324189379811,
                    "z": 0.0011647805804386735
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.2652684450149536,
                "transform": {
                    "location": {
                        "x": 2185.044677734375,
                        "y": 2468.073486328125,
                        "z": 364.8485412597656
                    },
                    "rotation": {
                        "roll": -0.0033264360390603542,
                        "pitch": 0.6892616748809814,
                        "yaw": 89.93405151367188
                    }
                },
                "velocity": {
                    "x": -5.827940549352206e-05,
                    "y": 1.265221357345581,
                    "z": 0.010915898717939854
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0014645911287516356,
                "transform": {
                    "location": {
                        "x": 2210.885498046875,
                        "y": 2524.287841796875,
                        "z": 365.7850036621094
                    },
                    "rotation": {
                        "roll": -0.0259094201028347,
                        "pitch": -1.5741536617279053,
                        "yaw": -179.26815795898438
                    }
                },
                "velocity": {
                    "x": 0.0005373914609663188,
                    "y": 0.0002486715966369957,
                    "z": 0.0013395522255450487
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48786,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.1645221710205078,
                "transform": {
                    "location": {
                        "x": 2187.888671875,
                        "y": 2558.69970703125,
                        "z": 365.13531494140625
                    },
                    "rotation": {
                        "roll": 4.60707706224639e-05,
                        "pitch": 0.22313544154167175,
                        "yaw": -90.04417419433594
                    }
                },
                "velocity": {
                    "x": 0.0024797823280096054,
                    "y": -1.164518117904663,
                    "z": 0.0018428134499117732
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.746868371963501,
                "transform": {
                    "location": {
                        "x": 2171.82080078125,
                        "y": 2527.32275390625,
                        "z": 364.9342956542969
                    },
                    "rotation": {
                        "roll": 0.0006192229338921607,
                        "pitch": 1.141898274421692,
                        "yaw": -0.0851135104894638
                    }
                },
                "velocity": {
                    "x": 2.7463743686676025,
                    "y": -0.005285951774567366,
                    "z": 0.05182638019323349
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0010170800378546119,
                "transform": {
                    "location": {
                        "x": 2185.0224609375,
                        "y": 2488.922119140625,
                        "z": 365.0133361816406
                    },
                    "rotation": {
                        "roll": 0.00030631301342509687,
                        "pitch": 0.42405909299850464,
                        "yaw": 89.98991394042969
                    }
                },
                "velocity": {
                    "x": -0.00010958686470985413,
                    "y": 0.0003403227310627699,
                    "z": 0.0009521674946881831
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48789,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.2416237592697144,
                "transform": {
                    "location": {
                        "x": 2185.126220703125,
                        "y": 2457.08251953125,
                        "z": 364.77398681640625
                    },
                    "rotation": {
                        "roll": 0.006884893402457237,
                        "pitch": 0.6453640460968018,
                        "yaw": 90.62512969970703
                    }
                },
                "velocity": {
                    "x": -0.012075290083885193,
                    "y": 1.2414909601211548,
                    "z": 0.013558253645896912
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48790,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.243565082550049,
                "transform": {
                    "location": {
                        "x": 2187.819091796875,
                        "y": 2572.12109375,
                        "z": 365.0711669921875
                    },
                    "rotation": {
                        "roll": 0.002290971577167511,
                        "pitch": 0.3533393144607544,
                        "yaw": -89.41130828857422
                    }
                },
                "velocity": {
                    "x": 0.058576133102178574,
                    "y": -5.243156433105469,
                    "z": 0.029238471761345863
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48791,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": 2236.935546875,
                        "y": 2524.330322265625,
                        "z": 366.91058349609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.7185369729995728,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 9.783414078867736e-09,
                    "y": -2.150729767891324e-11,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00024366824072785676,
                "transform": {
                    "location": {
                        "x": 2185.020263671875,
                        "y": 2478.91845703125,
                        "z": 364.92828369140625
                    },
                    "rotation": {
                        "roll": -0.0028381571173667908,
                        "pitch": 0.3930363953113556,
                        "yaw": 89.39669799804688
                    }
                },
                "velocity": {
                    "x": -8.530607010470703e-05,
                    "y": -0.00018465198809280992,
                    "z": 0.00013416678120847791
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00013204767310526222,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.78143310546875
                    },
                    "rotation": {
                        "roll": 0.002942906226962805,
                        "pitch": 0.21781471371650696,
                        "yaw": -179.82398986816406
                    }
                },
                "velocity": {
                    "x": 2.526380058043287e-06,
                    "y": 6.125564482317714e-07,
                    "z": -0.00013202209083829075
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0005275539588183165,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0004395902797114104,
                        "pitch": 0.2198432832956314,
                        "yaw": 179.87509155273438
                    }
                },
                "velocity": {
                    "x": -2.4081951778498478e-05,
                    "y": 4.1976913053076714e-05,
                    "z": -0.0005253296112641692
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.826330661773682,
                "transform": {
                    "location": {
                        "x": 2187.91162109375,
                        "y": 2544.70361328125,
                        "z": 365.1645202636719
                    },
                    "rotation": {
                        "roll": 0.001725438516587019,
                        "pitch": 0.24267660081386566,
                        "yaw": -89.8835220336914
                    }
                },
                "velocity": {
                    "x": 0.006287360098212957,
                    "y": -4.826323509216309,
                    "z": 0.005521631333976984
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.247619152069092,
                "transform": {
                    "location": {
                        "x": 2185.009521484375,
                        "y": 2499.685302734375,
                        "z": 365.07818603515625
                    },
                    "rotation": {
                        "roll": -0.0008239788003265858,
                        "pitch": 0.2406480461359024,
                        "yaw": 90.05299377441406
                    }
                },
                "velocity": {
                    "x": -0.00315215066075325,
                    "y": 2.247591733932495,
                    "z": 0.01063509937375784
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.0048828125,
                        "y": 2508.85888671875,
                        "z": 365.1201477050781
                    },
                    "rotation": {
                        "roll": 0.0016126481350511312,
                        "pitch": 0.20036359131336212,
                        "yaw": 90.12260437011719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00048040441470220685,
                "transform": {
                    "location": {
                        "x": 2200.538818359375,
                        "y": 2524.274169921875,
                        "z": 365.51519775390625
                    },
                    "rotation": {
                        "roll": -0.0294494591653347,
                        "pitch": -1.4287935495376587,
                        "yaw": -178.95423889160156
                    }
                },
                "velocity": {
                    "x": -8.135765529004857e-05,
                    "y": 5.5507895012851804e-05,
                    "z": 0.00047020017518661916
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.2637237310409546,
                "transform": {
                    "location": {
                        "x": 2161.0439453125,
                        "y": 2527.346435546875,
                        "z": 364.7491455078125
                    },
                    "rotation": {
                        "roll": 0.0017239056760445237,
                        "pitch": 0.3602514863014221,
                        "yaw": -0.0881042405962944
                    }
                },
                "velocity": {
                    "x": 1.263655185699463,
                    "y": 0.0010520895011723042,
                    "z": 0.01312004029750824
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.3873906135559082,
        "expert_target_speed": 0.0,
        "target_point": [
            28.727485210618916,
            0.11578334893396647
        ],
        "target_point_next": [
            28.727485210618916,
            0.11578334893396647
        ]
    },
    "555": {
        "acceleration": [
            0.8966591954231262,
            -0.042800065129995346,
            0.01645641401410103
        ],
        "angular_velocity": [
            -0.026018457487225533,
            -0.11644989252090454,
            -0.14114446938037872
        ],
        "forward_vector": [
            -0.9995945692062378,
            0.019801810383796692,
            -0.02046060562133789
        ],
        "right_vector": [
            -0.019797176122665405,
            -0.999803900718689,
            -0.0004290100187063217
        ],
        "location": [
            2176.866943359375,
            2523.996826171875,
            364.99462890625
        ],
        "rotation": [
            0.024585610255599022,
            -1.1723881959915161,
            178.86512756347656
        ],
        "velocity": [
            -0.07611805945634842,
            -0.01275583729147911,
            -0.001614799490198493
        ],
        "speed": 0.07717946851596533,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 5.719879150390625,
        "front_vehicle_info": {
            "id": 48755,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2171.16796875,
                2524.47509765625,
                364.89483642578125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "217,217,217"
        },
        "other_vehicles": [
            {
                "id": 48788,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.8622368574142456,
                "transform": {
                    "location": {
                        "x": 2150.19921875,
                        "y": 2527.362060546875,
                        "z": 364.74530029296875
                    },
                    "rotation": {
                        "roll": -0.00042724609375,
                        "pitch": -0.2231149524450302,
                        "yaw": 0.045346200466156006
                    }
                },
                "velocity": {
                    "x": 1.8622262477874756,
                    "y": -0.0016298922710120678,
                    "z": -0.006087455432862043
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48787,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.435157299041748,
                "transform": {
                    "location": {
                        "x": 2221.729736328125,
                        "y": 2524.2744140625,
                        "z": 366.094482421875
                    },
                    "rotation": {
                        "roll": -0.0030822751577943563,
                        "pitch": -1.7513082027435303,
                        "yaw": 179.97283935546875
                    }
                },
                "velocity": {
                    "x": -1.434488296508789,
                    "y": -7.484472462238045e-06,
                    "z": -0.04381502419710159
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.2473113536834717,
                "transform": {
                    "location": {
                        "x": 2185.044677734375,
                        "y": 2468.541259765625,
                        "z": 364.8526916503906
                    },
                    "rotation": {
                        "roll": -0.002654945943504572,
                        "pitch": 0.7323533296585083,
                        "yaw": 89.95382690429688
                    }
                },
                "velocity": {
                    "x": -0.001951649901457131,
                    "y": 2.2472169399261475,
                    "z": 0.02050822228193283
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0016329020727425814,
                "transform": {
                    "location": {
                        "x": 2210.88525390625,
                        "y": 2524.287841796875,
                        "z": 365.7850036621094
                    },
                    "rotation": {
                        "roll": -0.02676391787827015,
                        "pitch": -1.5538884401321411,
                        "yaw": -179.2682342529297
                    }
                },
                "velocity": {
                    "x": 9.082555334316567e-05,
                    "y": 7.637478847755119e-05,
                    "z": 0.0016285842284560204
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48786,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.1460652351379395,
                "transform": {
                    "location": {
                        "x": 2187.888671875,
                        "y": 2558.268310546875,
                        "z": 365.1368408203125
                    },
                    "rotation": {
                        "roll": -0.0007629512110725045,
                        "pitch": 0.3088543117046356,
                        "yaw": -90.02342987060547
                    }
                },
                "velocity": {
                    "x": 0.0024580019526183605,
                    "y": -2.146054983139038,
                    "z": 0.006080198101699352
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.8799784183502197,
                "transform": {
                    "location": {
                        "x": 2172.6787109375,
                        "y": 2527.321044921875,
                        "z": 364.9497985839844
                    },
                    "rotation": {
                        "roll": 0.0007785230991430581,
                        "pitch": 1.2146739959716797,
                        "yaw": -0.09637448936700821
                    }
                },
                "velocity": {
                    "x": 3.879286527633667,
                    "y": -0.008151877671480179,
                    "z": 0.07280435413122177
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.2030654102563858,
                "transform": {
                    "location": {
                        "x": 2185.0224609375,
                        "y": 2488.927978515625,
                        "z": 365.01361083984375
                    },
                    "rotation": {
                        "roll": 6.702284008497372e-05,
                        "pitch": 0.397469162940979,
                        "yaw": 89.97483825683594
                    }
                },
                "velocity": {
                    "x": -1.393524871673435e-05,
                    "y": 0.20304936170578003,
                    "z": 0.0025528334081172943
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48789,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.0499377250671387,
                "transform": {
                    "location": {
                        "x": 2185.12255859375,
                        "y": 2457.49267578125,
                        "z": 364.7779235839844
                    },
                    "rotation": {
                        "roll": 0.006979782599955797,
                        "pitch": 0.6881893277168274,
                        "yaw": 90.63074493408203
                    }
                },
                "velocity": {
                    "x": -0.01874343492090702,
                    "y": 2.0497429370880127,
                    "z": 0.021135635673999786
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48790,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.88318395614624,
                "transform": {
                    "location": {
                        "x": 2187.833984375,
                        "y": 2570.7431640625,
                        "z": 365.0787658691406
                    },
                    "rotation": {
                        "roll": 0.003054650966078043,
                        "pitch": 0.3247618079185486,
                        "yaw": -89.39069366455078
                    }
                },
                "velocity": {
                    "x": 0.05451274663209915,
                    "y": -5.882856845855713,
                    "z": 0.0295586958527565
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48791,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.5702832341194153,
                "transform": {
                    "location": {
                        "x": 2236.939697265625,
                        "y": 2524.330322265625,
                        "z": 366.5138244628906
                    },
                    "rotation": {
                        "roll": 0.0008001870010048151,
                        "pitch": -1.7520390748977661,
                        "yaw": 179.87405395507812
                    }
                },
                "velocity": {
                    "x": 0.017519278451800346,
                    "y": -5.939167385804467e-05,
                    "z": -0.5700140595436096
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0016911688726395369,
                "transform": {
                    "location": {
                        "x": 2185.020263671875,
                        "y": 2478.918701171875,
                        "z": 364.9279479980469
                    },
                    "rotation": {
                        "roll": -0.004425037186592817,
                        "pitch": 0.43698182702064514,
                        "yaw": 89.39673614501953
                    }
                },
                "velocity": {
                    "x": -0.00017596175894141197,
                    "y": -8.933186472859234e-05,
                    "z": 0.0016796158161014318
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00011946413724217564,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.003095621010288596,
                        "pitch": 0.217725932598114,
                        "yaw": -179.823974609375
                    }
                },
                "velocity": {
                    "x": 8.256956789409742e-06,
                    "y": -6.607709110539872e-06,
                    "z": -0.00011899512901436538
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00015123879711609334,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.00022178530343808234,
                        "pitch": 0.21934467554092407,
                        "yaw": 179.87515258789062
                    }
                },
                "velocity": {
                    "x": -2.045646215265151e-05,
                    "y": 6.34377429378219e-05,
                    "z": 0.00013575845514424145
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.9604575634002686,
                "transform": {
                    "location": {
                        "x": 2187.91357421875,
                        "y": 2543.6298828125,
                        "z": 365.1650695800781
                    },
                    "rotation": {
                        "roll": 0.000996734481304884,
                        "pitch": -0.05651981383562088,
                        "yaw": -89.9100341796875
                    }
                },
                "velocity": {
                    "x": 0.004429616034030914,
                    "y": -3.9604547023773193,
                    "z": 0.0014526271261274815
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.000913712487090379,
                "transform": {
                    "location": {
                        "x": 2185.009765625,
                        "y": 2500.00732421875,
                        "z": 365.0777587890625
                    },
                    "rotation": {
                        "roll": 0.0005564408493228257,
                        "pitch": 0.4924224615097046,
                        "yaw": 90.12142944335938
                    }
                },
                "velocity": {
                    "x": 2.5717998141772114e-05,
                    "y": 0.0004515299806371331,
                    "z": 0.0007939331117086112
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.0048828125,
                        "y": 2508.85888671875,
                        "z": 365.1201477050781
                    },
                    "rotation": {
                        "roll": 0.0016126481350511312,
                        "pitch": 0.20036359131336212,
                        "yaw": 90.12260437011719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00037625955883413553,
                "transform": {
                    "location": {
                        "x": 2200.538818359375,
                        "y": 2524.274169921875,
                        "z": 365.51519775390625
                    },
                    "rotation": {
                        "roll": -0.0294494591653347,
                        "pitch": -1.4287935495376587,
                        "yaw": -178.95423889160156
                    }
                },
                "velocity": {
                    "x": -4.2635798308765516e-05,
                    "y": 1.5460047961823875e-06,
                    "z": -0.000373832939658314
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.585353970527649,
                "transform": {
                    "location": {
                        "x": 2161.357666015625,
                        "y": 2527.349365234375,
                        "z": 364.7518615722656
                    },
                    "rotation": {
                        "roll": -0.004364013206213713,
                        "pitch": 0.3854275643825531,
                        "yaw": -0.250701904296875
                    }
                },
                "velocity": {
                    "x": 1.5852822065353394,
                    "y": 0.006018261890858412,
                    "z": 0.01382971741259098
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.40610769391059875,
        "expert_target_speed": 0.0,
        "target_point": [
            28.702842304011885,
            0.03967490757067205
        ],
        "target_point_next": [
            28.702842304011885,
            0.03967490757067205
        ]
    },
    "560": {
        "acceleration": [
            -0.827582597732544,
            0.05538776516914368,
            -0.019849777221679688
        ],
        "angular_velocity": [
            0.03124898113310337,
            0.15361131727695465,
            1.1745407581329346
        ],
        "forward_vector": [
            -0.9996414184570312,
            0.017367083579301834,
            -0.02038504369556904
        ],
        "right_vector": [
            -0.017363550141453743,
            -0.9998492002487183,
            -0.00035034152097068727
        ],
        "location": [
            2176.843505859375,
            2523.99462890625,
            364.9941711425781
        ],
        "rotation": [
            0.020077262073755264,
            -1.168057918548584,
            179.0046844482422
        ],
        "velocity": [
            -0.10725781321525574,
            -0.008866043761372566,
            -0.0017620277358219028
        ],
        "speed": 0.10762362764605764,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 5.696704387664795,
        "front_vehicle_info": {
            "id": 48755,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2171.16796875,
                2524.47509765625,
                364.89483642578125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "217,217,217"
        },
        "other_vehicles": [
            {
                "id": 48788,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.8963098526000977,
                "transform": {
                    "location": {
                        "x": 2150.703369140625,
                        "y": 2527.362060546875,
                        "z": 364.74371337890625
                    },
                    "rotation": {
                        "roll": -6.103515625e-05,
                        "pitch": -0.20495347678661346,
                        "yaw": 0.02141377329826355
                    }
                },
                "velocity": {
                    "x": 1.8963024616241455,
                    "y": -0.0017265587812289596,
                    "z": -0.004971093963831663
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48787,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.177779197692871,
                "transform": {
                    "location": {
                        "x": 2221.2548828125,
                        "y": 2524.27490234375,
                        "z": 366.0802307128906
                    },
                    "rotation": {
                        "roll": -0.0032958975061774254,
                        "pitch": -1.647304892539978,
                        "yaw": -179.99758911132812
                    }
                },
                "velocity": {
                    "x": -2.176832914352417,
                    "y": 0.0008467743173241615,
                    "z": -0.06418805569410324
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0032324078492820263,
                "transform": {
                    "location": {
                        "x": 2185.044677734375,
                        "y": 2468.730224609375,
                        "z": 364.8542785644531
                    },
                    "rotation": {
                        "roll": -0.0020752076525241137,
                        "pitch": 0.23527951538562775,
                        "yaw": 90.02532958984375
                    }
                },
                "velocity": {
                    "x": -2.348617090319749e-05,
                    "y": -0.0032322246115654707,
                    "z": 2.5178127543767914e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0013112168526276946,
                "transform": {
                    "location": {
                        "x": 2210.885009765625,
                        "y": 2524.287841796875,
                        "z": 365.7850341796875
                    },
                    "rotation": {
                        "roll": -0.025512687861919403,
                        "pitch": -1.546839714050293,
                        "yaw": -179.26832580566406
                    }
                },
                "velocity": {
                    "x": 1.5294253898900934e-05,
                    "y": -7.485170499421656e-05,
                    "z": 0.0013089892454445362
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48786,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.5719096660614014,
                "transform": {
                    "location": {
                        "x": 2187.8896484375,
                        "y": 2557.5634765625,
                        "z": 365.13916015625
                    },
                    "rotation": {
                        "roll": -0.00012206572137074545,
                        "pitch": 0.38613107800483704,
                        "yaw": -89.97393798828125
                    }
                },
                "velocity": {
                    "x": 0.00537909846752882,
                    "y": -3.5718889236450195,
                    "z": 0.010933494195342064
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.0897982120513916,
                "transform": {
                    "location": {
                        "x": 2173.540771484375,
                        "y": 2527.27490234375,
                        "z": 364.96697998046875
                    },
                    "rotation": {
                        "roll": 0.019400648772716522,
                        "pitch": 1.1101584434509277,
                        "yaw": -1.649170160293579
                    }
                },
                "velocity": {
                    "x": 3.077239990234375,
                    "y": -0.27202528715133667,
                    "z": 0.05873369053006172
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.8741874098777771,
                "transform": {
                    "location": {
                        "x": 2185.021728515625,
                        "y": 2489.068603515625,
                        "z": 365.01373291015625
                    },
                    "rotation": {
                        "roll": -0.0015869064955040812,
                        "pitch": 0.5042113661766052,
                        "yaw": 89.89569091796875
                    }
                },
                "velocity": {
                    "x": -0.001990057062357664,
                    "y": 0.8741682767868042,
                    "z": 0.005438947584480047
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48789,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00776464631780982,
                "transform": {
                    "location": {
                        "x": 2185.116455078125,
                        "y": 2457.920654296875,
                        "z": 364.7841796875
                    },
                    "rotation": {
                        "roll": 0.00500747375190258,
                        "pitch": 0.4748961925506592,
                        "yaw": 90.4832992553711
                    }
                },
                "velocity": {
                    "x": -0.0017020315863192081,
                    "y": 0.007573060691356659,
                    "z": 0.0002038903476204723
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48790,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.9580442905426025,
                "transform": {
                    "location": {
                        "x": 2187.844970703125,
                        "y": 2569.376220703125,
                        "z": 365.0863342285156
                    },
                    "rotation": {
                        "roll": 0.0011169337667524815,
                        "pitch": 0.25578373670578003,
                        "yaw": -89.25672912597656
                    }
                },
                "velocity": {
                    "x": 0.051671575754880905,
                    "y": -3.957669973373413,
                    "z": 0.01706959679722786
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48791,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.2220347374677658,
                "transform": {
                    "location": {
                        "x": 2236.93896484375,
                        "y": 2524.330322265625,
                        "z": 366.5368347167969
                    },
                    "rotation": {
                        "roll": 0.0005613027606159449,
                        "pitch": -1.747859001159668,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": -0.006881684064865112,
                    "y": 5.020794924348593e-05,
                    "z": 0.22192806005477905
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0021639883052557707,
                "transform": {
                    "location": {
                        "x": 2185.020263671875,
                        "y": 2478.9189453125,
                        "z": 364.92791748046875
                    },
                    "rotation": {
                        "roll": -0.005157469306141138,
                        "pitch": 0.4460659623146057,
                        "yaw": 89.39673614501953
                    }
                },
                "velocity": {
                    "x": -3.892906079272507e-06,
                    "y": -5.661047907778993e-05,
                    "z": 0.002163244178518653
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0004550552985165268,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.0027419207617640495,
                        "pitch": 0.217725932598114,
                        "yaw": -179.823974609375
                    }
                },
                "velocity": {
                    "x": 7.2464717959519476e-06,
                    "y": -1.4164607819111552e-05,
                    "z": -0.00045477706589736044
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0002658590965438634,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.00022178530343808234,
                        "pitch": 0.21934467554092407,
                        "yaw": 179.87515258789062
                    }
                },
                "velocity": {
                    "x": -1.523889568488812e-05,
                    "y": 2.3749167667119764e-05,
                    "z": -0.00026435733889229596
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.102710723876953,
                "transform": {
                    "location": {
                        "x": 2187.914794921875,
                        "y": 2542.603271484375,
                        "z": 365.1654968261719
                    },
                    "rotation": {
                        "roll": 0.0006552078993991017,
                        "pitch": 0.02591373585164547,
                        "yaw": -89.92870330810547
                    }
                },
                "velocity": {
                    "x": 0.003589336294680834,
                    "y": -4.10270881652832,
                    "z": 0.0012196159223094583
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.001372253755107522,
                "transform": {
                    "location": {
                        "x": 2185.010009765625,
                        "y": 2500.006591796875,
                        "z": 365.0789794921875
                    },
                    "rotation": {
                        "roll": 0.0016837657894939184,
                        "pitch": 0.3464135229587555,
                        "yaw": 90.12140655517578
                    }
                },
                "velocity": {
                    "x": -0.00017764307267498225,
                    "y": -0.0005928040482103825,
                    "z": 0.0012247884878888726
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.0048828125,
                        "y": 2508.85888671875,
                        "z": 365.1201477050781
                    },
                    "rotation": {
                        "roll": 0.0016126481350511312,
                        "pitch": 0.20036359131336212,
                        "yaw": 90.12260437011719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0004910522256977856,
                "transform": {
                    "location": {
                        "x": 2200.538818359375,
                        "y": 2524.274169921875,
                        "z": 365.51519775390625
                    },
                    "rotation": {
                        "roll": -0.0294494591653347,
                        "pitch": -1.4287935495376587,
                        "yaw": -178.95423889160156
                    }
                },
                "velocity": {
                    "x": -3.032743916264735e-05,
                    "y": -7.5723446570918895e-06,
                    "z": -0.0004900563508272171
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.0340895652770996,
                "transform": {
                    "location": {
                        "x": 2161.91455078125,
                        "y": 2527.350341796875,
                        "z": 364.755859375
                    },
                    "rotation": {
                        "roll": -0.0033264157827943563,
                        "pitch": 0.5159934163093567,
                        "yaw": -0.3158569037914276
                    }
                },
                "velocity": {
                    "x": 3.03395676612854,
                    "y": -0.004155335482209921,
                    "z": 0.02807818353176117
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.4187425971031189,
        "expert_target_speed": 0.0,
        "target_point": [
            28.679458002148667,
            -0.032840250937804794
        ],
        "target_point_next": [
            28.679458002148667,
            -0.032840250937804794
        ]
    },
    "565": {
        "acceleration": [
            0.8715965747833252,
            -0.004860288463532925,
            0.00616817269474268
        ],
        "angular_velocity": [
            -0.03614509850740433,
            -0.15128545463085175,
            -0.5344854593276978
        ],
        "forward_vector": [
            -0.9996621608734131,
            0.016093648970127106,
            -0.020408522337675095
        ],
        "right_vector": [
            -0.016089433804154396,
            -0.9998704791069031,
            -0.00037074610008858144
        ],
        "location": [
            2176.823974609375,
            2523.993408203125,
            364.9938049316406
        ],
        "rotation": [
            0.021246612071990967,
            -1.1694034337997437,
            179.07766723632812
        ],
        "velocity": [
            -0.0514637790620327,
            -0.003912627696990967,
            -0.0017058849334716797
        ],
        "speed": 0.05161229708936598,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 5.677342891693115,
        "front_vehicle_info": {
            "id": 48755,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2171.16796875,
                2524.47509765625,
                364.89483642578125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "217,217,217"
        },
        "other_vehicles": [
            {
                "id": 48792,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 2135.974853515625,
                        "y": 2527.302490234375,
                        "z": 365.1903381347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2181084156036377,
                        "yaw": -0.125946044921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48788,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.0417516231536865,
                "transform": {
                    "location": {
                        "x": 2151.162841796875,
                        "y": 2527.3623046875,
                        "z": 364.74249267578125
                    },
                    "rotation": {
                        "roll": -0.00012207029067212716,
                        "pitch": -0.1752353310585022,
                        "yaw": 0.0029155281372368336
                    }
                },
                "velocity": {
                    "x": 2.0417494773864746,
                    "y": -0.0019997560884803534,
                    "z": -0.002164935925975442
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48787,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0010807538637891412,
                "transform": {
                    "location": {
                        "x": 2220.984619140625,
                        "y": 2524.274658203125,
                        "z": 366.07177734375
                    },
                    "rotation": {
                        "roll": -0.008728026412427425,
                        "pitch": -2.0063133239746094,
                        "yaw": -179.87216186523438
                    }
                },
                "velocity": {
                    "x": 0.0008754808804951608,
                    "y": 0.00017274294805247337,
                    "z": -0.0006096900324337184
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0015704297693446279,
                "transform": {
                    "location": {
                        "x": 2185.044677734375,
                        "y": 2468.7314453125,
                        "z": 364.8543701171875
                    },
                    "rotation": {
                        "roll": -0.0010986538836732507,
                        "pitch": 0.45114079117774963,
                        "yaw": 90.02532196044922
                    }
                },
                "velocity": {
                    "x": -7.845099753467366e-05,
                    "y": -0.0015291800955310464,
                    "z": -0.0003488596121314913
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.11026543378829956,
                "transform": {
                    "location": {
                        "x": 2210.8798828125,
                        "y": 2524.287841796875,
                        "z": 365.7848205566406
                    },
                    "rotation": {
                        "roll": -0.0245666466653347,
                        "pitch": -1.5318610668182373,
                        "yaw": -179.2693634033203
                    }
                },
                "velocity": {
                    "x": -0.11023801565170288,
                    "y": -0.00014715222641825676,
                    "z": -0.0024544810876250267
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48786,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.010352611541748,
                "transform": {
                    "location": {
                        "x": 2187.8916015625,
                        "y": 2556.478759765625,
                        "z": 365.1422119140625
                    },
                    "rotation": {
                        "roll": -0.0010986455017700791,
                        "pitch": 0.3915269076824188,
                        "yaw": -89.9281997680664
                    }
                },
                "velocity": {
                    "x": 0.00900299847126007,
                    "y": -5.010325908660889,
                    "z": 0.013773374259471893
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.30485463142395,
                "transform": {
                    "location": {
                        "x": 2174.320068359375,
                        "y": 2527.2158203125,
                        "z": 364.9820556640625
                    },
                    "rotation": {
                        "roll": -0.037841796875,
                        "pitch": 1.1496846675872803,
                        "yaw": -2.870026111602783
                    }
                },
                "velocity": {
                    "x": 3.2904434204101562,
                    "y": -0.3014044761657715,
                    "z": 0.06481527537107468
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.871941328048706,
                "transform": {
                    "location": {
                        "x": 2185.0224609375,
                        "y": 2489.3974609375,
                        "z": 365.01519775390625
                    },
                    "rotation": {
                        "roll": -0.00158692745026201,
                        "pitch": 0.5841723680496216,
                        "yaw": 89.98271179199219
                    }
                },
                "velocity": {
                    "x": -0.0026900784578174353,
                    "y": 1.871907114982605,
                    "z": 0.01099893543869257
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48789,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.0154361724853516,
                "transform": {
                    "location": {
                        "x": 2185.115478515625,
                        "y": 2458.0478515625,
                        "z": 364.7843322753906
                    },
                    "rotation": {
                        "roll": 0.005085276439785957,
                        "pitch": 0.6023133397102356,
                        "yaw": 90.46626281738281
                    }
                },
                "velocity": {
                    "x": -0.00799958873540163,
                    "y": 1.015349268913269,
                    "z": 0.010603322647511959
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48790,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0010986635461449623,
                "transform": {
                    "location": {
                        "x": 2187.850341796875,
                        "y": 2569.0068359375,
                        "z": 365.0885314941406
                    },
                    "rotation": {
                        "roll": 0.0014062932459637523,
                        "pitch": 0.1935470551252365,
                        "yaw": -89.21009826660156
                    }
                },
                "velocity": {
                    "x": -0.000101200639619492,
                    "y": 7.79213005444035e-05,
                    "z": 0.0010912141297012568
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48791,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.5009424686431885,
                "transform": {
                    "location": {
                        "x": 2236.9306640625,
                        "y": 2524.330078125,
                        "z": 366.565185546875
                    },
                    "rotation": {
                        "roll": 0.00042184407357126474,
                        "pitch": -1.7610821723937988,
                        "yaw": 179.87786865234375
                    }
                },
                "velocity": {
                    "x": -0.5005027055740356,
                    "y": -0.00907053891569376,
                    "z": 0.018924150615930557
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.5251390337944031,
                "transform": {
                    "location": {
                        "x": 2185.0205078125,
                        "y": 2478.9599609375,
                        "z": 364.92816162109375
                    },
                    "rotation": {
                        "roll": -0.00631712656468153,
                        "pitch": 0.4740424156188965,
                        "yaw": 89.4277572631836
                    }
                },
                "velocity": {
                    "x": 0.000956518342718482,
                    "y": 0.5251277089118958,
                    "z": 0.0033104990143328905
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.989672040916048e-05,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.78143310546875
                    },
                    "rotation": {
                        "roll": 0.002237555803731084,
                        "pitch": 0.21788984537124634,
                        "yaw": -179.823974609375
                    }
                },
                "velocity": {
                    "x": 6.724037120875437e-06,
                    "y": -7.986385753611103e-06,
                    "z": -3.8506535929627717e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00024237150500994176,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0012578582391142845,
                        "pitch": 0.21978864073753357,
                        "yaw": 179.87521362304688
                    }
                },
                "velocity": {
                    "x": -1.9516794509399915e-06,
                    "y": -1.8580649339128286e-05,
                    "z": -0.00024165035574696958
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.7587461471557617,
                "transform": {
                    "location": {
                        "x": 2187.91552734375,
                        "y": 2541.64404296875,
                        "z": 365.16558837890625
                    },
                    "rotation": {
                        "roll": -0.00042724545346572995,
                        "pitch": -0.045372944325208664,
                        "yaw": -89.93639373779297
                    }
                },
                "velocity": {
                    "x": 0.004084935877472162,
                    "y": -3.7587437629699707,
                    "z": 0.0007733440143056214
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002784759853966534,
                "transform": {
                    "location": {
                        "x": 2185.010009765625,
                        "y": 2500.006103515625,
                        "z": 365.0793151855469
                    },
                    "rotation": {
                        "roll": 0.0015385349979624152,
                        "pitch": 0.3034994304180145,
                        "yaw": 90.12142181396484
                    }
                },
                "velocity": {
                    "x": 3.193633529008366e-05,
                    "y": -9.197376493830234e-05,
                    "z": 0.00026090184110216796
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.0048828125,
                        "y": 2508.85888671875,
                        "z": 365.1201477050781
                    },
                    "rotation": {
                        "roll": 0.0016126481350511312,
                        "pitch": 0.20036359131336212,
                        "yaw": 90.12260437011719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.894785474287346e-05,
                "transform": {
                    "location": {
                        "x": 2200.538818359375,
                        "y": 2524.274169921875,
                        "z": 365.51519775390625
                    },
                    "rotation": {
                        "roll": -0.0294494591653347,
                        "pitch": -1.4287935495376587,
                        "yaw": -178.95423889160156
                    }
                },
                "velocity": {
                    "x": -4.2829513404285535e-05,
                    "y": 2.3379447156912647e-05,
                    "z": -4.8711812269175425e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.233862400054932,
                "transform": {
                    "location": {
                        "x": 2162.8017578125,
                        "y": 2527.3486328125,
                        "z": 364.76312255859375
                    },
                    "rotation": {
                        "roll": -0.00146484375,
                        "pitch": 0.634435772895813,
                        "yaw": -0.399810791015625
                    }
                },
                "velocity": {
                    "x": 4.233651161193848,
                    "y": -0.015500579960644245,
                    "z": 0.039349086582660675
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.42724505066871643,
        "expert_target_speed": 0.0,
        "target_point": [
            28.659883844717687,
            -0.07090222764655163
        ],
        "target_point_next": [
            28.659883844717687,
            -0.07090222764655163
        ]
    },
    "570": {
        "acceleration": [
            -0.8331784009933472,
            0.01958344876766205,
            -0.028316494077444077
        ],
        "angular_velocity": [
            -0.054615702480077744,
            0.1507614552974701,
            0.8209952116012573
        ],
        "forward_vector": [
            -0.9996719360351562,
            0.015553114004433155,
            -0.020348336547613144
        ],
        "right_vector": [
            -0.01554921641945839,
            -0.9998790621757507,
            -0.0003497687866911292
        ],
        "location": [
            2176.806396484375,
            2523.9931640625,
            364.9933776855469
        ],
        "rotation": [
            0.020044425502419472,
            -1.1659542322158813,
            179.10865783691406
        ],
        "velocity": [
            -0.08728426694869995,
            0.001105831004679203,
            -0.00225626933388412
        ],
        "speed": 0.08729127172279497,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 5.659844398498535,
        "front_vehicle_info": {
            "id": 48755,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2171.16796875,
                2524.47509765625,
                364.89483642578125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "217,217,217"
        },
        "other_vehicles": [
            {
                "id": 48792,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.1708698272705078,
                "transform": {
                    "location": {
                        "x": 2135.974365234375,
                        "y": 2527.302490234375,
                        "z": 364.80096435546875
                    },
                    "rotation": {
                        "roll": 0.0001708373602014035,
                        "pitch": -0.22002770006656647,
                        "yaw": -0.125885009765625
                    }
                },
                "velocity": {
                    "x": -0.004385022912174463,
                    "y": 0.00020106745068915188,
                    "z": -1.1708616018295288
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48788,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.6882156133651733,
                "transform": {
                    "location": {
                        "x": 2151.645263671875,
                        "y": 2527.36181640625,
                        "z": 364.7414855957031
                    },
                    "rotation": {
                        "roll": -0.00018310543964616954,
                        "pitch": -0.15215611457824707,
                        "yaw": -0.0123291015625
                    }
                },
                "velocity": {
                    "x": 1.6882140636444092,
                    "y": -0.0017550669144839048,
                    "z": -0.0014535808004438877
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48787,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0014305845834314823,
                "transform": {
                    "location": {
                        "x": 2220.983154296875,
                        "y": 2524.274658203125,
                        "z": 366.0719909667969
                    },
                    "rotation": {
                        "roll": -0.00830077938735485,
                        "pitch": -1.8182371854782104,
                        "yaw": -179.87234497070312
                    }
                },
                "velocity": {
                    "x": 0.0009289142326451838,
                    "y": 3.247523636673577e-05,
                    "z": -0.001087490702047944
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0009561505867168307,
                "transform": {
                    "location": {
                        "x": 2185.044677734375,
                        "y": 2468.732177734375,
                        "z": 364.8543701171875
                    },
                    "rotation": {
                        "roll": -9.154415602097288e-05,
                        "pitch": 0.5093544721603394,
                        "yaw": 90.0254135131836
                    }
                },
                "velocity": {
                    "x": -8.097837417153642e-05,
                    "y": -0.00035413302248343825,
                    "z": -0.0008844525436870754
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.7542223930358887,
                "transform": {
                    "location": {
                        "x": 2210.79150390625,
                        "y": 2524.287841796875,
                        "z": 365.7824401855469
                    },
                    "rotation": {
                        "roll": -0.01907348446547985,
                        "pitch": -1.433861494064331,
                        "yaw": -179.3287353515625
                    }
                },
                "velocity": {
                    "x": -0.753943681716919,
                    "y": -0.0019288103794679046,
                    "z": -0.0204123817384243
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48786,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.42972469329834,
                "transform": {
                    "location": {
                        "x": 2187.893798828125,
                        "y": 2555.148681640625,
                        "z": 365.1461181640625
                    },
                    "rotation": {
                        "roll": -0.0009460430592298508,
                        "pitch": 0.2435167282819748,
                        "yaw": -89.9056625366211
                    }
                },
                "velocity": {
                    "x": 0.0092919385060668,
                    "y": -5.429698944091797,
                    "z": 0.013944091275334358
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.7983341217041016,
                "transform": {
                    "location": {
                        "x": 2175.078125,
                        "y": 2527.15283203125,
                        "z": 364.99749755859375
                    },
                    "rotation": {
                        "roll": -0.0693054050207138,
                        "pitch": 1.106920838356018,
                        "yaw": -3.7057197093963623
                    }
                },
                "velocity": {
                    "x": 2.7854983806610107,
                    "y": -0.2619049847126007,
                    "z": 0.05548544600605965
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.9108638763427734,
                "transform": {
                    "location": {
                        "x": 2185.021728515625,
                        "y": 2490.0166015625,
                        "z": 365.0185852050781
                    },
                    "rotation": {
                        "roll": -0.001892087166197598,
                        "pitch": 0.6581433415412903,
                        "yaw": 89.99909973144531
                    }
                },
                "velocity": {
                    "x": -0.004411970265209675,
                    "y": 2.910806894302368,
                    "z": 0.017688779160380363
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48789,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.2929149866104126,
                "transform": {
                    "location": {
                        "x": 2185.11181640625,
                        "y": 2458.386962890625,
                        "z": 364.7873840332031
                    },
                    "rotation": {
                        "roll": 0.005157251376658678,
                        "pitch": 0.643834114074707,
                        "yaw": 90.39408874511719
                    }
                },
                "velocity": {
                    "x": -0.009737691842019558,
                    "y": 1.2928085327148438,
                    "z": 0.013435411266982555
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48790,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.8018684387207031,
                "transform": {
                    "location": {
                        "x": 2187.851318359375,
                        "y": 2568.903564453125,
                        "z": 365.0885009765625
                    },
                    "rotation": {
                        "roll": 0.0022157703060656786,
                        "pitch": 0.28660154342651367,
                        "yaw": -89.2494125366211
                    }
                },
                "velocity": {
                    "x": 0.006671889219433069,
                    "y": -0.8018364310264587,
                    "z": 0.0026167011819779873
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48791,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.759662628173828,
                "transform": {
                    "location": {
                        "x": 2236.449951171875,
                        "y": 2524.325927734375,
                        "z": 366.5537109375
                    },
                    "rotation": {
                        "roll": -0.0032348635140806437,
                        "pitch": -1.9366453886032104,
                        "yaw": -179.97315979003906
                    }
                },
                "velocity": {
                    "x": -2.7582011222839355,
                    "y": -0.020056992769241333,
                    "z": -0.08753170073032379
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.1406408548355103,
                "transform": {
                    "location": {
                        "x": 2185.02099609375,
                        "y": 2479.18310546875,
                        "z": 364.9299621582031
                    },
                    "rotation": {
                        "roll": -0.005371097009629011,
                        "pitch": 0.4872110188007355,
                        "yaw": 89.49337768554688
                    }
                },
                "velocity": {
                    "x": -0.0008093314245343208,
                    "y": 1.1406337022781372,
                    "z": 0.003948316443711519
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.354605572298169e-05,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.78143310546875
                    },
                    "rotation": {
                        "roll": 0.002237555803731084,
                        "pitch": 0.21788984537124634,
                        "yaw": -179.823974609375
                    }
                },
                "velocity": {
                    "x": 9.575970580044668e-06,
                    "y": -3.2484297207702184e-07,
                    "z": 9.305407002102584e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0010686286259442568,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0012578582391142845,
                        "pitch": 0.21978864073753357,
                        "yaw": 179.87521362304688
                    }
                },
                "velocity": {
                    "x": -1.1480376088002231e-05,
                    "y": -1.1177941814821679e-05,
                    "z": -0.0010685084853321314
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.4272875785827637,
                "transform": {
                    "location": {
                        "x": 2187.904541015625,
                        "y": 2540.714111328125,
                        "z": 365.16552734375
                    },
                    "rotation": {
                        "roll": 0.09286636859178543,
                        "pitch": -0.07089053094387054,
                        "yaw": -90.41327667236328
                    }
                },
                "velocity": {
                    "x": -0.13823850452899933,
                    "y": -3.4244985580444336,
                    "z": 0.0006955337594263256
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.935833567287773e-05,
                "transform": {
                    "location": {
                        "x": 2185.009765625,
                        "y": 2500.006103515625,
                        "z": 365.07940673828125
                    },
                    "rotation": {
                        "roll": 0.000323090935125947,
                        "pitch": 0.2967512011528015,
                        "yaw": 90.12141418457031
                    }
                },
                "velocity": {
                    "x": -2.9767332307528704e-05,
                    "y": -3.230713264201768e-05,
                    "z": -2.2503340005641803e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.0048828125,
                        "y": 2508.85888671875,
                        "z": 365.1201477050781
                    },
                    "rotation": {
                        "roll": 0.0016126481350511312,
                        "pitch": 0.20036359131336212,
                        "yaw": 90.12260437011719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00021674830350093544,
                "transform": {
                    "location": {
                        "x": 2200.538818359375,
                        "y": 2524.274169921875,
                        "z": 365.51519775390625
                    },
                    "rotation": {
                        "roll": -0.0294494591653347,
                        "pitch": -1.4287935495376587,
                        "yaw": -178.95423889160156
                    }
                },
                "velocity": {
                    "x": -7.81965209171176e-05,
                    "y": 5.5249158322112635e-05,
                    "z": 0.00019445478392299265
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.968607425689697,
                "transform": {
                    "location": {
                        "x": 2163.9755859375,
                        "y": 2527.343994140625,
                        "z": 364.7737121582031
                    },
                    "rotation": {
                        "roll": -0.0019226073054596782,
                        "pitch": 0.7259534597396851,
                        "yaw": -0.2692260444164276
                    }
                },
                "velocity": {
                    "x": 4.968279838562012,
                    "y": -0.014062081463634968,
                    "z": 0.05526335537433624
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.43081092834472656,
        "expert_target_speed": 0.0,
        "target_point": [
            28.64226907403212,
            -0.08693078829899581
        ],
        "target_point_next": [
            28.64226907403212,
            -0.08693078829899581
        ]
    },
    "575": {
        "acceleration": [
            0.9168013334274292,
            -0.013734926469624043,
            0.02555828168988228
        ],
        "angular_velocity": [
            0.012965379282832146,
            -0.1350444108247757,
            -0.7501436471939087
        ],
        "forward_vector": [
            -0.999672532081604,
            0.01554072741419077,
            -0.02032962255179882
        ],
        "right_vector": [
            -0.015538053587079048,
            -0.9998792409896851,
            -0.0002894490899052471
        ],
        "location": [
            2176.7900390625,
            2523.993408203125,
            364.9930725097656
        ],
        "rotation": [
            0.0165876392275095,
            -1.1648818254470825,
            179.10935974121094
        ],
        "velocity": [
            -0.04408999904990196,
            0.0012779438402503729,
            -0.0008427047287113965
        ],
        "speed": 0.044108515693448466,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 5.6435227394104,
        "front_vehicle_info": {
            "id": 48755,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2171.16796875,
                2524.47509765625,
                364.89483642578125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "217,217,217"
        },
        "other_vehicles": [
            {
                "id": 48792,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.14954297244548798,
                "transform": {
                    "location": {
                        "x": 2135.974365234375,
                        "y": 2527.302490234375,
                        "z": 364.77783203125
                    },
                    "rotation": {
                        "roll": 0.0003787831519730389,
                        "pitch": -0.22024627029895782,
                        "yaw": -0.1259155124425888
                    }
                },
                "velocity": {
                    "x": 0.000576844671741128,
                    "y": -8.04601440904662e-05,
                    "z": 0.14954183995723724
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48788,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.063338041305542,
                "transform": {
                    "location": {
                        "x": 2152.12548828125,
                        "y": 2527.361083984375,
                        "z": 364.740234375
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": -0.11346309632062912,
                        "yaw": -0.02386474423110485
                    }
                },
                "velocity": {
                    "x": 2.0633342266082764,
                    "y": -0.002287544310092926,
                    "z": -0.0032854746095836163
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48787,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0006282163667492568,
                "transform": {
                    "location": {
                        "x": 2220.982666015625,
                        "y": 2524.274658203125,
                        "z": 366.0720520019531
                    },
                    "rotation": {
                        "roll": -0.007690430618822575,
                        "pitch": -1.7660751342773438,
                        "yaw": -179.87242126464844
                    }
                },
                "velocity": {
                    "x": 0.00014750986883882433,
                    "y": 0.0005629089428111911,
                    "z": 0.00023670695372857153
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0782928392291069,
                "transform": {
                    "location": {
                        "x": 2185.044677734375,
                        "y": 2468.73876953125,
                        "z": 364.8543701171875
                    },
                    "rotation": {
                        "roll": -0.0015869132475927472,
                        "pitch": 0.5316892266273499,
                        "yaw": 90.0379867553711
                    }
                },
                "velocity": {
                    "x": -0.0003447708149906248,
                    "y": 0.07828168570995331,
                    "z": 0.0012758636148646474
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.9703999757766724,
                "transform": {
                    "location": {
                        "x": 2210.45458984375,
                        "y": 2524.287353515625,
                        "z": 365.7734375
                    },
                    "rotation": {
                        "roll": -0.00811767391860485,
                        "pitch": -1.317318081855774,
                        "yaw": -179.51504516601562
                    }
                },
                "velocity": {
                    "x": -1.9696905612945557,
                    "y": -0.0011264063650742173,
                    "z": -0.052856430411338806
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48786,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.821108818054199,
                "transform": {
                    "location": {
                        "x": 2187.896728515625,
                        "y": 2553.65625,
                        "z": 365.14990234375
                    },
                    "rotation": {
                        "roll": -0.0011901960242539644,
                        "pitch": 0.3505116403102875,
                        "yaw": -89.80816650390625
                    }
                },
                "velocity": {
                    "x": 0.015951592475175858,
                    "y": -6.821075916290283,
                    "z": 0.013885898515582085
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48779,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.0138654708862305,
                "transform": {
                    "location": {
                        "x": 2175.8017578125,
                        "y": 2527.08935546875,
                        "z": 365.0115051269531
                    },
                    "rotation": {
                        "roll": -0.08453369140625,
                        "pitch": 1.1502106189727783,
                        "yaw": -4.267030715942383
                    }
                },
                "velocity": {
                    "x": 2.99948787689209,
                    "y": -0.2878613770008087,
                    "z": 0.059944551438093185
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.007448882795870304,
                "transform": {
                    "location": {
                        "x": 2185.02099609375,
                        "y": 2490.445068359375,
                        "z": 365.02740478515625
                    },
                    "rotation": {
                        "roll": 0.0026292812544852495,
                        "pitch": -0.1177661120891571,
                        "yaw": 89.97561645507812
                    }
                },
                "velocity": {
                    "x": -0.0002841410750988871,
                    "y": 0.007442418020218611,
                    "z": 0.0001246231549885124
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48789,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0007675685337744653,
                "transform": {
                    "location": {
                        "x": 2185.111083984375,
                        "y": 2458.41796875,
                        "z": 364.788818359375
                    },
                    "rotation": {
                        "roll": 0.005084803327918053,
                        "pitch": 0.5180561542510986,
                        "yaw": 90.3583755493164
                    }
                },
                "velocity": {
                    "x": 7.92305072536692e-05,
                    "y": -0.0005214862176217139,
                    "z": -0.000557616469450295
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48790,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.50197434425354,
                "transform": {
                    "location": {
                        "x": 2187.85400390625,
                        "y": 2568.614013671875,
                        "z": 365.0897216796875
                    },
                    "rotation": {
                        "roll": 0.003551095724105835,
                        "pitch": 0.30740630626678467,
                        "yaw": -89.3292236328125
                    }
                },
                "velocity": {
                    "x": 0.007116150110960007,
                    "y": -1.501941442489624,
                    "z": 0.006950921844691038
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48791,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.910926103591919,
                "transform": {
                    "location": {
                        "x": 2235.61279296875,
                        "y": 2524.320556640625,
                        "z": 366.52691650390625
                    },
                    "rotation": {
                        "roll": -0.007202147971838713,
                        "pitch": -1.8753308057785034,
                        "yaw": -179.83323669433594
                    }
                },
                "velocity": {
                    "x": -3.908950090408325,
                    "y": -0.03010476939380169,
                    "z": -0.12060584127902985
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.5345414876937866,
                "transform": {
                    "location": {
                        "x": 2185.01953125,
                        "y": 2479.513916015625,
                        "z": 364.9326171875
                    },
                    "rotation": {
                        "roll": -0.005340592470020056,
                        "pitch": 0.4766242206096649,
                        "yaw": 89.4612045288086
                    }
                },
                "velocity": {
                    "x": -0.012814057990908623,
                    "y": 1.5344517230987549,
                    "z": 0.01055611576884985
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00038422332727350295,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.78143310546875
                    },
                    "rotation": {
                        "roll": 0.002237555803731084,
                        "pitch": 0.21788984537124634,
                        "yaw": -179.823974609375
                    }
                },
                "velocity": {
                    "x": 8.752494977670722e-06,
                    "y": 1.9814186089206487e-05,
                    "z": 0.0003836122341454029
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0004362837935332209,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.00017442746320739388,
                        "pitch": 0.22024627029895782,
                        "yaw": 179.87521362304688
                    }
                },
                "velocity": {
                    "x": -2.1412446585600264e-05,
                    "y": -3.88457156077493e-05,
                    "z": -0.00043402312439866364
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.2659413814544678,
                "transform": {
                    "location": {
                        "x": 2187.875,
                        "y": 2540.0576171875,
                        "z": 365.1654968261719
                    },
                    "rotation": {
                        "roll": 0.008528253994882107,
                        "pitch": -0.3390505611896515,
                        "yaw": -91.2879638671875
                    }
                },
                "velocity": {
                    "x": -0.05957253277301788,
                    "y": -1.264538049697876,
                    "z": 0.0014624976320192218
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.7756759411422536e-05,
                "transform": {
                    "location": {
                        "x": 2185.009765625,
                        "y": 2500.006103515625,
                        "z": 365.07940673828125
                    },
                    "rotation": {
                        "roll": 0.000323090935125947,
                        "pitch": 0.2967512011528015,
                        "yaw": 90.12141418457031
                    }
                },
                "velocity": {
                    "x": 9.921647688315716e-06,
                    "y": -2.0941644834238105e-05,
                    "z": -2.9809083571308292e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.0048828125,
                        "y": 2508.85888671875,
                        "z": 365.1201477050781
                    },
                    "rotation": {
                        "roll": 0.0016126481350511312,
                        "pitch": 0.20036359131336212,
                        "yaw": 90.12260437011719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0001479151687817648,
                "transform": {
                    "location": {
                        "x": 2200.538818359375,
                        "y": 2524.274169921875,
                        "z": 365.51519775390625
                    },
                    "rotation": {
                        "roll": -0.0294494591653347,
                        "pitch": -1.4287935495376587,
                        "yaw": -178.95423889160156
                    }
                },
                "velocity": {
                    "x": -6.92480753059499e-05,
                    "y": -8.557061664760113e-05,
                    "z": 9.879915160126984e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0009914144175127149,
                "transform": {
                    "location": {
                        "x": 2164.50390625,
                        "y": 2527.342529296875,
                        "z": 364.7819519042969
                    },
                    "rotation": {
                        "roll": -0.00042724600643850863,
                        "pitch": 0.40158095955848694,
                        "yaw": -0.2295837253332138
                    }
                },
                "velocity": {
                    "x": -0.00015491925296373665,
                    "y": 0.00012179594341432676,
                    "z": -0.0009716317872516811
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.410270094871521,
        "expert_target_speed": 0.0,
        "target_point": [
            28.62590879512835,
            -0.0872823757291285
        ],
        "target_point_next": [
            28.62590879512835,
            -0.0872823757291285
        ]
    },
    "580": {
        "acceleration": [
            -0.8852052688598633,
            0.008624399080872536,
            -0.01257782056927681
        ],
        "angular_velocity": [
            -0.012286895886063576,
            0.18366582691669464,
            0.818362832069397
        ],
        "forward_vector": [
            -0.9996780753135681,
            0.015237810090184212,
            -0.02028600126504898
        ],
        "right_vector": [
            -0.015235851518809795,
            -0.9998838305473328,
            -0.0002510449558030814
        ],
        "location": [
            2176.773681640625,
            2523.99365234375,
            364.99273681640625
        ],
        "rotation": [
            0.014386776834726334,
            -1.1623820066452026,
            179.12672424316406
        ],
        "velocity": [
            -0.08652190119028091,
            0.0015579876489937305,
            -0.0021946143824607134
        ],
        "speed": 0.08653592728511754,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 5.627201080322266,
        "front_vehicle_info": {
            "id": 48755,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2171.16796875,
                2524.47509765625,
                364.89483642578125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "217,217,217"
        },
        "other_vehicles": [
            {
                "id": 48792,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.5169845819473267,
                "transform": {
                    "location": {
                        "x": 2136.163818359375,
                        "y": 2527.303955078125,
                        "z": 364.79937744140625
                    },
                    "rotation": {
                        "roll": -0.008392333053052425,
                        "pitch": 0.012963698245584965,
                        "yaw": -0.0328063927590847
                    }
                },
                "velocity": {
                    "x": 1.5165462493896484,
                    "y": 0.012704165652394295,
                    "z": 0.03418006747961044
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48788,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.8034427165985107,
                "transform": {
                    "location": {
                        "x": 2152.572021484375,
                        "y": 2527.36083984375,
                        "z": 364.7391662597656
                    },
                    "rotation": {
                        "roll": -0.00048828116268850863,
                        "pitch": -0.09512403607368469,
                        "yaw": -0.031829833984375
                    }
                },
                "velocity": {
                    "x": 1.8034403324127197,
                    "y": -0.0018492076778784394,
                    "z": -0.0022972773294895887
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48787,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.513968288898468,
                "transform": {
                    "location": {
                        "x": 2220.9287109375,
                        "y": 2524.2744140625,
                        "z": 366.0705261230469
                    },
                    "rotation": {
                        "roll": -0.007263182196766138,
                        "pitch": -1.6820979118347168,
                        "yaw": -179.86505126953125
                    }
                },
                "velocity": {
                    "x": -0.5137664675712585,
                    "y": -0.0002297019527759403,
                    "z": -0.014400395564734936
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.879372239112854,
                "transform": {
                    "location": {
                        "x": 2185.044677734375,
                        "y": 2468.85546875,
                        "z": 364.8554992675781
                    },
                    "rotation": {
                        "roll": -0.00033571466337889433,
                        "pitch": 0.6491206288337708,
                        "yaw": 90.03316497802734
                    }
                },
                "velocity": {
                    "x": -0.0017771037528291345,
                    "y": 0.8793327212333679,
                    "z": 0.008143491111695766
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.825181245803833,
                "transform": {
                    "location": {
                        "x": 2209.8837890625,
                        "y": 2524.287353515625,
                        "z": 365.75823974609375
                    },
                    "rotation": {
                        "roll": -0.007385252509266138,
                        "pitch": -1.4681695699691772,
                        "yaw": -179.70895385742188
                    }
                },
                "velocity": {
                    "x": -1.824536681175232,
                    "y": -0.001087089767679572,
                    "z": -0.048488274216651917
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48786,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.065916061401367,
                "transform": {
                    "location": {
                        "x": 2187.900146484375,
                        "y": 2552.13818359375,
                        "z": 365.15240478515625
                    },
                    "rotation": {
                        "roll": -0.00021363070118241012,
                        "pitch": -0.12790212035179138,
                        "yaw": -89.86212158203125
                    }
                },
                "velocity": {
                    "x": 0.008531568571925163,
                    "y": -4.065906047821045,
                    "z": 0.002687330124899745
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.004671389702707529,
                "transform": {
                    "location": {
                        "x": 2185.02099609375,
                        "y": 2490.446533203125,
                        "z": 365.0260314941406
                    },
                    "rotation": {
                        "roll": 0.0005401187227107584,
                        "pitch": 0.05217581242322922,
                        "yaw": 89.97562408447266
                    }
                },
                "velocity": {
                    "x": 0.00015496787091251463,
                    "y": -0.004656640347093344,
                    "z": 0.0003369989572092891
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48789,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00037959188921377063,
                "transform": {
                    "location": {
                        "x": 2185.111083984375,
                        "y": 2458.41845703125,
                        "z": 364.7882995605469
                    },
                    "rotation": {
                        "roll": 0.004075507167726755,
                        "pitch": 0.5754229426383972,
                        "yaw": 90.35842895507812
                    }
                },
                "velocity": {
                    "x": 8.067192538874224e-05,
                    "y": -0.00010419457976240665,
                    "z": -0.00035598527756519616
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48790,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.3569447994232178,
                "transform": {
                    "location": {
                        "x": 2187.857177734375,
                        "y": 2568.125732421875,
                        "z": 365.0921936035156
                    },
                    "rotation": {
                        "roll": 0.003170761512592435,
                        "pitch": 0.3101315498352051,
                        "yaw": -89.41715240478516
                    }
                },
                "velocity": {
                    "x": 0.013093475252389908,
                    "y": -2.3568804264068604,
                    "z": 0.011461715213954449
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48791,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.056678295135498,
                "transform": {
                    "location": {
                        "x": 2234.48388671875,
                        "y": 2524.312744140625,
                        "z": 366.4923095703125
                    },
                    "rotation": {
                        "roll": -0.011047360487282276,
                        "pitch": -1.8606526851654053,
                        "yaw": -179.7144775390625
                    }
                },
                "velocity": {
                    "x": -5.054300785064697,
                    "y": -0.03917520120739937,
                    "z": -0.15002547204494476
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.6373408436775208,
                "transform": {
                    "location": {
                        "x": 2185.01953125,
                        "y": 2479.90673828125,
                        "z": 364.9358825683594
                    },
                    "rotation": {
                        "roll": -0.001434306032024324,
                        "pitch": 0.3897237479686737,
                        "yaw": 89.5340576171875
                    }
                },
                "velocity": {
                    "x": 0.0001144164489232935,
                    "y": 0.6373389959335327,
                    "z": 0.0015339851379394531
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00018829782493412495,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.0030186467338353395,
                        "pitch": 0.217725932598114,
                        "yaw": -179.82391357421875
                    }
                },
                "velocity": {
                    "x": 9.589492947270628e-06,
                    "y": 1.1794440979429055e-05,
                    "z": 0.00018768325389828533
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.650963066727854e-05,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.001113681006245315,
                        "pitch": 0.21985012292861938,
                        "yaw": 179.87521362304688
                    }
                },
                "velocity": {
                    "x": 3.2347440992452903e-06,
                    "y": -4.273405920685036e-06,
                    "z": -5.625489211524837e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.005549513269215822,
                "transform": {
                    "location": {
                        "x": 2187.874267578125,
                        "y": 2540.033447265625,
                        "z": 365.1654968261719
                    },
                    "rotation": {
                        "roll": -0.01437376532703638,
                        "pitch": -0.3072492182254791,
                        "yaw": -91.31427001953125
                    }
                },
                "velocity": {
                    "x": 0.0005919833783991635,
                    "y": 0.005200177431106567,
                    "z": 0.001845211023464799
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.9655067161656916e-05,
                "transform": {
                    "location": {
                        "x": 2185.010009765625,
                        "y": 2500.006103515625,
                        "z": 365.0794372558594
                    },
                    "rotation": {
                        "roll": 0.0009730878518894315,
                        "pitch": 0.2935819923877716,
                        "yaw": 90.12141418457031
                    }
                },
                "velocity": {
                    "x": 1.4498221389658283e-05,
                    "y": -1.9698105461429805e-05,
                    "z": 5.441059693112038e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0021847474854439497,
                "transform": {
                    "location": {
                        "x": 2185.0048828125,
                        "y": 2508.85888671875,
                        "z": 365.1199951171875
                    },
                    "rotation": {
                        "roll": 0.0003618219925556332,
                        "pitch": 0.19527509808540344,
                        "yaw": 90.12258911132812
                    }
                },
                "velocity": {
                    "x": 3.154447040287778e-05,
                    "y": -6.277822103584185e-05,
                    "z": -0.0021836175583302975
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.542855797102675e-05,
                "transform": {
                    "location": {
                        "x": 2200.538818359375,
                        "y": 2524.274169921875,
                        "z": 365.51519775390625
                    },
                    "rotation": {
                        "roll": -0.0294494591653347,
                        "pitch": -1.4287935495376587,
                        "yaw": -178.95423889160156
                    }
                },
                "velocity": {
                    "x": -5.432352190837264e-05,
                    "y": 1.0911545359704178e-05,
                    "z": 1.4893151956130168e-06
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.576905369758606,
                "transform": {
                    "location": {
                        "x": 2164.804443359375,
                        "y": 2527.341552734375,
                        "z": 364.7840270996094
                    },
                    "rotation": {
                        "roll": -0.00027465829043649137,
                        "pitch": 0.6332882642745972,
                        "yaw": -0.23672489821910858
                    }
                },
                "velocity": {
                    "x": 1.5768163204193115,
                    "y": -0.00390982860699296,
                    "z": 0.016299324110150337
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.42072784900665283,
        "expert_target_speed": 0.0,
        "target_point": [
            28.60952176585491,
            -0.09596888981477675
        ],
        "target_point_next": [
            28.60952176585491,
            -0.09596888981477675
        ]
    },
    "585": {
        "acceleration": [
            0.9094155430793762,
            -0.0071152010932564735,
            0.024884797632694244
        ],
        "angular_velocity": [
            -0.0063924831338226795,
            -0.1438068449497223,
            -0.7379852533340454
        ],
        "forward_vector": [
            -0.9996780753135681,
            0.01518583856523037,
            -0.020325452089309692
        ],
        "right_vector": [
            -0.015184423886239529,
            -0.9998847246170044,
            -0.00022392756363842636
        ],
        "location": [
            2176.75830078125,
            2523.99365234375,
            364.9924621582031
        ],
        "rotation": [
            0.012832756154239178,
            -1.1646428108215332,
            179.12969970703125
        ],
        "velocity": [
            -0.038192909210920334,
            0.0006607003160752356,
            -0.000955667463131249
        ],
        "speed": 0.038198623521028416,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 5.611874103546143,
        "front_vehicle_info": {
            "id": 48755,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2171.16796875,
                2524.47509765625,
                364.89483642578125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "217,217,217"
        },
        "other_vehicles": [
            {
                "id": 48792,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.936432123184204,
                "transform": {
                    "location": {
                        "x": 2136.72265625,
                        "y": 2527.309326171875,
                        "z": 364.8017578125
                    },
                    "rotation": {
                        "roll": -0.010192870162427425,
                        "pitch": 0.06374615430831909,
                        "yaw": 0.16501399874687195
                    }
                },
                "velocity": {
                    "x": 2.936283588409424,
                    "y": 0.029120484367012978,
                    "z": -0.004985217936336994
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48788,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.0330088138580322,
                "transform": {
                    "location": {
                        "x": 2153.08984375,
                        "y": 2527.360107421875,
                        "z": 364.7378845214844
                    },
                    "rotation": {
                        "roll": -0.0007629393949173391,
                        "pitch": -0.05734626576304436,
                        "yaw": -0.045440673828125
                    }
                },
                "velocity": {
                    "x": 2.033003091812134,
                    "y": -0.0033132387325167656,
                    "z": -0.0035387706011533737
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48787,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.533232569694519,
                "transform": {
                    "location": {
                        "x": 2220.673583984375,
                        "y": 2524.2744140625,
                        "z": 366.0630798339844
                    },
                    "rotation": {
                        "roll": -0.006713865790516138,
                        "pitch": -1.601317286491394,
                        "yaw": -179.85020446777344
                    }
                },
                "velocity": {
                    "x": -1.532537817955017,
                    "y": 0.00028991512954235077,
                    "z": -0.046149443835020065
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.0617740154266357,
                "transform": {
                    "location": {
                        "x": 2185.044677734375,
                        "y": 2469.215087890625,
                        "z": 364.8587341308594
                    },
                    "rotation": {
                        "roll": -0.001129155745729804,
                        "pitch": 0.7373257279396057,
                        "yaw": 90.05459594726562
                    }
                },
                "velocity": {
                    "x": -0.0036765087861567736,
                    "y": 2.061695098876953,
                    "z": 0.017661171033978462
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00395843293517828,
                "transform": {
                    "location": {
                        "x": 2209.83056640625,
                        "y": 2524.287109375,
                        "z": 365.7567138671875
                    },
                    "rotation": {
                        "roll": -0.01425170712172985,
                        "pitch": -1.7801179885864258,
                        "yaw": -179.74545288085938
                    }
                },
                "velocity": {
                    "x": 0.0039368788711726665,
                    "y": 4.015948888991261e-06,
                    "z": 0.00041250273352488875
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48786,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.49143093824386597,
                "transform": {
                    "location": {
                        "x": 2187.900634765625,
                        "y": 2551.8466796875,
                        "z": 365.1523742675781
                    },
                    "rotation": {
                        "roll": 0.0010028353426605463,
                        "pitch": -0.40362316370010376,
                        "yaw": -89.8609390258789
                    }
                },
                "velocity": {
                    "x": -0.0013021151535212994,
                    "y": -0.49142295122146606,
                    "z": 0.0024808691814541817
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0010730673093348742,
                "transform": {
                    "location": {
                        "x": 2185.02099609375,
                        "y": 2490.449462890625,
                        "z": 365.0230407714844
                    },
                    "rotation": {
                        "roll": -0.0015258690109476447,
                        "pitch": 0.4261559545993805,
                        "yaw": 89.97559356689453
                    }
                },
                "velocity": {
                    "x": 9.523209155304357e-05,
                    "y": -0.0010509190615266562,
                    "z": 0.00019486762175802141
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48789,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0763571709394455,
                "transform": {
                    "location": {
                        "x": 2185.111083984375,
                        "y": 2458.425048828125,
                        "z": 364.78814697265625
                    },
                    "rotation": {
                        "roll": 0.004560226108878851,
                        "pitch": 0.5973546504974365,
                        "yaw": 90.35965728759766
                    }
                },
                "velocity": {
                    "x": -0.0006923260516487062,
                    "y": 0.07632897794246674,
                    "z": 0.00195592874661088
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48790,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.070380687713623,
                "transform": {
                    "location": {
                        "x": 2187.862060546875,
                        "y": 2567.443359375,
                        "z": 365.0955810546875
                    },
                    "rotation": {
                        "roll": 0.0018836515955626965,
                        "pitch": 0.30631348490715027,
                        "yaw": -89.50928497314453
                    }
                },
                "velocity": {
                    "x": 0.016016796231269836,
                    "y": -3.07030987739563,
                    "z": 0.013341531157493591
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48791,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.60374116897583,
                "transform": {
                    "location": {
                        "x": 2233.160888671875,
                        "y": 2524.303466796875,
                        "z": 366.4516296386719
                    },
                    "rotation": {
                        "roll": -0.013366698287427425,
                        "pitch": -1.8060590028762817,
                        "yaw": -179.64492797851562
                    }
                },
                "velocity": {
                    "x": -5.600926399230957,
                    "y": -0.044854748994112015,
                    "z": -0.1718365103006363
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.5753916501998901,
                "transform": {
                    "location": {
                        "x": 2185.024169921875,
                        "y": 2480.27001953125,
                        "z": 364.93841552734375
                    },
                    "rotation": {
                        "roll": 3.560604091035202e-05,
                        "pitch": 0.43217337131500244,
                        "yaw": 89.97282409667969
                    }
                },
                "velocity": {
                    "x": 0.007238490041345358,
                    "y": 1.5753118991851807,
                    "z": 0.014098329469561577
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0004908551927655935,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.0030186467338353395,
                        "pitch": 0.217725932598114,
                        "yaw": -179.82391357421875
                    }
                },
                "velocity": {
                    "x": 4.427395651873667e-06,
                    "y": 4.839218490815256e-06,
                    "z": -0.0004908113623969257
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0006172473658807576,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0008220752933993936,
                        "pitch": 0.21969301998615265,
                        "yaw": 179.875244140625
                    }
                },
                "velocity": {
                    "x": 2.0071900507900864e-05,
                    "y": 0.0001010323321679607,
                    "z": -0.0006085917120799422
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0017353369621559978,
                "transform": {
                    "location": {
                        "x": 2187.8740234375,
                        "y": 2540.0322265625,
                        "z": 365.16552734375
                    },
                    "rotation": {
                        "roll": -0.0031127918045967817,
                        "pitch": -0.08334196358919144,
                        "yaw": -91.31443786621094
                    }
                },
                "velocity": {
                    "x": 0.00017690435925032943,
                    "y": 0.001281623262912035,
                    "z": 0.0011565211461856961
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.21111539658159e-05,
                "transform": {
                    "location": {
                        "x": 2185.010009765625,
                        "y": 2500.006103515625,
                        "z": 365.0794372558594
                    },
                    "rotation": {
                        "roll": 0.0009730878518894315,
                        "pitch": 0.2935819923877716,
                        "yaw": 90.12141418457031
                    }
                },
                "velocity": {
                    "x": 3.7891161355219083e-06,
                    "y": -1.1659115443762857e-05,
                    "z": -6.0889269661856815e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.3665207326412201,
                "transform": {
                    "location": {
                        "x": 2185.004638671875,
                        "y": 2508.88916015625,
                        "z": 365.1205139160156
                    },
                    "rotation": {
                        "roll": 0.00027534301625564694,
                        "pitch": 0.15613128244876862,
                        "yaw": 90.1034927368164
                    }
                },
                "velocity": {
                    "x": -0.0022651483304798603,
                    "y": 0.36650753021240234,
                    "z": 0.0021330832969397306
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0001419225154677406,
                "transform": {
                    "location": {
                        "x": 2200.538818359375,
                        "y": 2524.274169921875,
                        "z": 365.51519775390625
                    },
                    "rotation": {
                        "roll": -0.0294494591653347,
                        "pitch": -1.4287935495376587,
                        "yaw": -178.95423889160156
                    }
                },
                "velocity": {
                    "x": -3.5466549888951704e-05,
                    "y": -2.8586573534994386e-05,
                    "z": -0.00013441329065244645
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.0163090229034424,
                "transform": {
                    "location": {
                        "x": 2165.390380859375,
                        "y": 2527.34033203125,
                        "z": 364.7899169921875
                    },
                    "rotation": {
                        "roll": -0.0013732908992096782,
                        "pitch": 0.7009276151657104,
                        "yaw": -0.2937317192554474
                    }
                },
                "velocity": {
                    "x": 3.016123056411743,
                    "y": -0.006291686091572046,
                    "z": 0.032890357077121735
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.4252466559410095,
        "expert_target_speed": 0.0,
        "target_point": [
            28.594137654058727,
            -0.09768949007179917
        ],
        "target_point_next": [
            28.594137654058727,
            -0.09768949007179917
        ]
    },
    "590": {
        "acceleration": [
            -0.9085769057273865,
            0.00447301659733057,
            -0.02222767099738121
        ],
        "angular_velocity": [
            0.010665219277143478,
            0.18046903610229492,
            0.805435061454773
        ],
        "forward_vector": [
            -0.999683141708374,
            0.01487981341779232,
            -0.020303523167967796
        ],
        "right_vector": [
            -0.014878503046929836,
            -0.9998893141746521,
            -0.00021559573360718787
        ],
        "location": [
            2176.74365234375,
            2523.99365234375,
            364.99212646484375
        ],
        "rotation": [
            0.012355271726846695,
            -1.1633861064910889,
            179.14724731445312
        ],
        "velocity": [
            -0.0789073184132576,
            0.0010408724192529917,
            -0.002227840479463339
        ],
        "speed": 0.07891418322813956,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 5.59727668762207,
        "front_vehicle_info": {
            "id": 48755,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2171.16796875,
                2524.47509765625,
                364.89483642578125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "217,217,217"
        },
        "other_vehicles": [
            {
                "id": 48792,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.543550968170166,
                "transform": {
                    "location": {
                        "x": 2137.674560546875,
                        "y": 2527.319580078125,
                        "z": 364.798828125
                    },
                    "rotation": {
                        "roll": -0.01239013485610485,
                        "pitch": 0.10429015010595322,
                        "yaw": 0.3928341865539551
                    }
                },
                "velocity": {
                    "x": 4.5432353019714355,
                    "y": 0.05110974609851837,
                    "z": -0.01596168428659439
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48788,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.3303545117378235,
                "transform": {
                    "location": {
                        "x": 2153.2412109375,
                        "y": 2527.359619140625,
                        "z": 364.73785400390625
                    },
                    "rotation": {
                        "roll": -0.0005493163480423391,
                        "pitch": -0.08468750864267349,
                        "yaw": -0.0157165490090847
                    }
                },
                "velocity": {
                    "x": 0.3303500711917877,
                    "y": -0.0010276383254677057,
                    "z": -0.001366691547445953
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48787,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.2086949348449707,
                "transform": {
                    "location": {
                        "x": 2220.1845703125,
                        "y": 2524.2744140625,
                        "z": 366.0484924316406
                    },
                    "rotation": {
                        "roll": -0.006683349143713713,
                        "pitch": -1.5892961025238037,
                        "yaw": -179.9067840576172
                    }
                },
                "velocity": {
                    "x": -2.2077369689941406,
                    "y": 0.0007654991350136697,
                    "z": -0.06503935903310776
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.578768014907837,
                "transform": {
                    "location": {
                        "x": 2185.042724609375,
                        "y": 2469.923095703125,
                        "z": 364.8650817871094
                    },
                    "rotation": {
                        "roll": 0.0008622364257462323,
                        "pitch": 0.8054909706115723,
                        "yaw": 90.08850860595703
                    }
                },
                "velocity": {
                    "x": -0.005525361280888319,
                    "y": 3.5786335468292236,
                    "z": 0.030545691028237343
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0014440418453887105,
                "transform": {
                    "location": {
                        "x": 2209.82861328125,
                        "y": 2524.287109375,
                        "z": 365.7567138671875
                    },
                    "rotation": {
                        "roll": -0.010711669921875,
                        "pitch": -1.5951223373413086,
                        "yaw": -179.74560546875
                    }
                },
                "velocity": {
                    "x": 0.001025976613163948,
                    "y": -0.00029712554533034563,
                    "z": 0.0009717742796055973
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48786,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.679402232170105,
                "transform": {
                    "location": {
                        "x": 2187.900634765625,
                        "y": 2551.5625,
                        "z": 365.15374755859375
                    },
                    "rotation": {
                        "roll": 2.8701548217213713e-05,
                        "pitch": 0.13514894247055054,
                        "yaw": -89.87084197998047
                    }
                },
                "velocity": {
                    "x": 0.0027302305679768324,
                    "y": -1.6793982982635498,
                    "z": 0.002450342057272792
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0004639159014914185,
                "transform": {
                    "location": {
                        "x": 2185.02099609375,
                        "y": 2490.449462890625,
                        "z": 365.0230712890625
                    },
                    "rotation": {
                        "roll": -0.0024414053186774254,
                        "pitch": 0.4224335253238678,
                        "yaw": 89.97561645507812
                    }
                },
                "velocity": {
                    "x": -9.129000318353064e-06,
                    "y": 0.0004631147312466055,
                    "z": 2.5678313249954954e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48789,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.684523344039917,
                "transform": {
                    "location": {
                        "x": 2185.110595703125,
                        "y": 2458.51171875,
                        "z": 364.7887268066406
                    },
                    "rotation": {
                        "roll": 0.0035299635492265224,
                        "pitch": 0.6447698473930359,
                        "yaw": 90.36680603027344
                    }
                },
                "velocity": {
                    "x": -0.0072783492505550385,
                    "y": 0.6844571828842163,
                    "z": 0.006131944712251425
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48790,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.8133785724639893,
                "transform": {
                    "location": {
                        "x": 2187.866455078125,
                        "y": 2566.578125,
                        "z": 365.09954833984375
                    },
                    "rotation": {
                        "roll": 0.0023099405225366354,
                        "pitch": 0.28865060210227966,
                        "yaw": -89.58893585205078
                    }
                },
                "velocity": {
                    "x": 0.019405445083975792,
                    "y": -3.81329607963562,
                    "z": 0.01586255058646202
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48791,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.2851409912109375,
                "transform": {
                    "location": {
                        "x": 2231.77294921875,
                        "y": 2524.29296875,
                        "z": 366.40850830078125
                    },
                    "rotation": {
                        "roll": -0.015747064724564552,
                        "pitch": -1.7362339496612549,
                        "yaw": -179.6063232421875
                    }
                },
                "velocity": {
                    "x": -5.28248405456543,
                    "y": -0.04152901470661163,
                    "z": -0.16233226656913757
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001611721352674067,
                "transform": {
                    "location": {
                        "x": 2185.02734375,
                        "y": 2480.593017578125,
                        "z": 364.9412841796875
                    },
                    "rotation": {
                        "roll": 0.00012628064723685384,
                        "pitch": 0.3374864459037781,
                        "yaw": 90.36735534667969
                    }
                },
                "velocity": {
                    "x": 7.056730828480795e-05,
                    "y": 0.00017939816461876035,
                    "z": -0.0016001506010070443
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00022196090139914304,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.78143310546875
                    },
                    "rotation": {
                        "roll": 0.002799723297357559,
                        "pitch": 0.2177600860595703,
                        "yaw": -179.82391357421875
                    }
                },
                "velocity": {
                    "x": 6.500407835119404e-06,
                    "y": -2.1623680368065834e-05,
                    "z": 0.0002208094228990376
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.766967271687463e-05,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0008220752933993936,
                        "pitch": 0.21969301998615265,
                        "yaw": 179.875244140625
                    }
                },
                "velocity": {
                    "x": 1.7344578736810945e-05,
                    "y": -6.260639929678291e-05,
                    "z": -1.894172964966856e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0013946694089099765,
                "transform": {
                    "location": {
                        "x": 2187.8740234375,
                        "y": 2540.03173828125,
                        "z": 365.16558837890625
                    },
                    "rotation": {
                        "roll": -0.0020141589920967817,
                        "pitch": -0.03829686716198921,
                        "yaw": -91.31443786621094
                    }
                },
                "velocity": {
                    "x": 3.769627073779702e-05,
                    "y": 0.0003100791072938591,
                    "z": 0.0013592398026958108
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00013633642811328173,
                "transform": {
                    "location": {
                        "x": 2185.010009765625,
                        "y": 2500.006103515625,
                        "z": 365.0794372558594
                    },
                    "rotation": {
                        "roll": 0.0009725542040541768,
                        "pitch": 0.29356151819229126,
                        "yaw": 90.12141418457031
                    }
                },
                "velocity": {
                    "x": 8.28422162157949e-06,
                    "y": -2.746555946941953e-05,
                    "z": 0.00013328403292689472
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.2108269929885864,
                "transform": {
                    "location": {
                        "x": 2185.0048828125,
                        "y": 2509.079345703125,
                        "z": 365.1216735839844
                    },
                    "rotation": {
                        "roll": 0.0006677588098682463,
                        "pitch": 0.1064758151769638,
                        "yaw": 90.12630462646484
                    }
                },
                "velocity": {
                    "x": -0.0009551350376568735,
                    "y": 1.2108242511749268,
                    "z": 0.0024162482004612684
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00020802661310881376,
                "transform": {
                    "location": {
                        "x": 2200.538818359375,
                        "y": 2524.274169921875,
                        "z": 365.51519775390625
                    },
                    "rotation": {
                        "roll": -0.0294494591653347,
                        "pitch": -1.4287935495376587,
                        "yaw": -178.95423889160156
                    }
                },
                "velocity": {
                    "x": -6.666257831966504e-05,
                    "y": -4.006759627372958e-05,
                    "z": -0.00019293978402856737
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.1274261474609375,
                "transform": {
                    "location": {
                        "x": 2166.27734375,
                        "y": 2527.33837890625,
                        "z": 364.80035400390625
                    },
                    "rotation": {
                        "roll": -0.0031127925030887127,
                        "pitch": 0.7402217388153076,
                        "yaw": -0.3856200873851776
                    }
                },
                "velocity": {
                    "x": 4.1269378662109375,
                    "y": -0.014938213862478733,
                    "z": 0.06169961020350456
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.4265308976173401,
        "expert_target_speed": 0.0,
        "target_point": [
            28.57945959339345,
            -0.10666099822842318
        ],
        "target_point_next": [
            28.57945959339345,
            -0.10666099822842318
        ]
    },
    "595": {
        "acceleration": [
            0.8703357577323914,
            -0.003687202697619796,
            0.022080233320593834
        ],
        "angular_velocity": [
            0.005687366239726543,
            -0.15700480341911316,
            -0.7902604341506958
        ],
        "forward_vector": [
            -0.9996820092201233,
            0.01493105199187994,
            -0.020319491624832153
        ],
        "right_vector": [
            -0.014929608441889286,
            -0.99988853931427,
            -0.00022279693803284317
        ],
        "location": [
            2176.730224609375,
            2523.99365234375,
            364.9918518066406
        ],
        "rotation": [
            0.01276796031743288,
            -1.1643012762069702,
            179.14430236816406
        ],
        "velocity": [
            -0.032177235931158066,
            0.0007305601611733437,
            -0.0008661079336889088
        ],
        "speed": 0.03218552827465324,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 5.583895683288574,
        "front_vehicle_info": {
            "id": 48755,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2171.16796875,
                2524.47509765625,
                364.89483642578125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "217,217,217"
        },
        "other_vehicles": [
            {
                "id": 48792,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.553195953369141,
                "transform": {
                    "location": {
                        "x": 2138.968994140625,
                        "y": 2527.327392578125,
                        "z": 364.7942810058594
                    },
                    "rotation": {
                        "roll": 0.0033645506482571363,
                        "pitch": 0.007260490674525499,
                        "yaw": 0.3576948642730713
                    }
                },
                "velocity": {
                    "x": 5.553053379058838,
                    "y": 0.033073410391807556,
                    "z": -0.022223662585020065
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48788,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.1027390956878662,
                "transform": {
                    "location": {
                        "x": 2153.4208984375,
                        "y": 2527.359375,
                        "z": 364.7370910644531
                    },
                    "rotation": {
                        "roll": -0.0009155272273346782,
                        "pitch": -0.03619316965341568,
                        "yaw": -0.0027160639874637127
                    }
                },
                "velocity": {
                    "x": 1.1027382612228394,
                    "y": -0.00037695467472076416,
                    "z": -0.0012773132184520364
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48787,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.002024006098508835,
                "transform": {
                    "location": {
                        "x": 2219.9599609375,
                        "y": 2524.274658203125,
                        "z": 366.04144287109375
                    },
                    "rotation": {
                        "roll": -0.0073852515779435635,
                        "pitch": -1.9457637071609497,
                        "yaw": -179.92747497558594
                    }
                },
                "velocity": {
                    "x": 0.0015757250366732478,
                    "y": 0.00035419518826529384,
                    "z": -0.0012199331540614367
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.7871944904327393,
                "transform": {
                    "location": {
                        "x": 2185.040771484375,
                        "y": 2470.91845703125,
                        "z": 364.873779296875
                    },
                    "rotation": {
                        "roll": 0.0015931795351207256,
                        "pitch": 0.6135627031326294,
                        "yaw": 90.08727264404297
                    }
                },
                "velocity": {
                    "x": -0.005653599742799997,
                    "y": 3.78702712059021,
                    "z": 0.03514522314071655
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00017875697812996805,
                "transform": {
                    "location": {
                        "x": 2209.828369140625,
                        "y": 2524.287109375,
                        "z": 365.7567138671875
                    },
                    "rotation": {
                        "roll": -0.01046753115952015,
                        "pitch": -1.555602788925171,
                        "yaw": -179.74566650390625
                    }
                },
                "velocity": {
                    "x": 0.00017606302571948618,
                    "y": -1.8069167708745226e-05,
                    "z": 2.5087319954764098e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48786,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.349550724029541,
                "transform": {
                    "location": {
                        "x": 2187.901611328125,
                        "y": 2551.044677734375,
                        "z": 365.1547546386719
                    },
                    "rotation": {
                        "roll": -0.00018310891755390912,
                        "pitch": 0.20392894744873047,
                        "yaw": -89.88499450683594
                    }
                },
                "velocity": {
                    "x": 0.003961768466979265,
                    "y": -2.3495421409606934,
                    "z": 0.004915809724479914
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0002515095693524927,
                "transform": {
                    "location": {
                        "x": 2185.02099609375,
                        "y": 2490.448974609375,
                        "z": 365.02349853515625
                    },
                    "rotation": {
                        "roll": -0.0013428137172013521,
                        "pitch": 0.36955419182777405,
                        "yaw": 89.9756088256836
                    }
                },
                "velocity": {
                    "x": -2.5596375053282827e-05,
                    "y": 0.00022686868032906204,
                    "z": -0.00010551061859587207
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48789,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.5062062740325928,
                "transform": {
                    "location": {
                        "x": 2185.1083984375,
                        "y": 2458.787353515625,
                        "z": 364.7912292480469
                    },
                    "rotation": {
                        "roll": 0.004055088385939598,
                        "pitch": 0.670608401298523,
                        "yaw": 90.37689971923828
                    }
                },
                "velocity": {
                    "x": -0.012547208927571774,
                    "y": 1.506080150604248,
                    "z": 0.014912538230419159
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48790,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.5366530418396,
                "transform": {
                    "location": {
                        "x": 2187.872314453125,
                        "y": 2565.53173828125,
                        "z": 365.1044006347656
                    },
                    "rotation": {
                        "roll": 0.002627410227432847,
                        "pitch": 0.2686449885368347,
                        "yaw": -89.66474151611328
                    }
                },
                "velocity": {
                    "x": 0.015226172283291817,
                    "y": -4.536587238311768,
                    "z": 0.019091395661234856
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48791,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.4915556311607361,
                "transform": {
                    "location": {
                        "x": 2231.1005859375,
                        "y": 2524.288330078125,
                        "z": 366.3846130371094
                    },
                    "rotation": {
                        "roll": -0.016815185546875,
                        "pitch": -1.3567759990692139,
                        "yaw": -179.60464477539062
                    }
                },
                "velocity": {
                    "x": -0.49132663011550903,
                    "y": -0.002731163054704666,
                    "z": -0.014751720242202282
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0007693749503232539,
                "transform": {
                    "location": {
                        "x": 2185.02734375,
                        "y": 2480.59326171875,
                        "z": 364.9408264160156
                    },
                    "rotation": {
                        "roll": 0.0015275846235454082,
                        "pitch": 0.39810436964035034,
                        "yaw": 90.36736297607422
                    }
                },
                "velocity": {
                    "x": 0.0004560213128570467,
                    "y": -0.0001488318230258301,
                    "z": 0.0006015242543071508
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00037412240635603666,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.78143310546875
                    },
                    "rotation": {
                        "roll": 0.002799723297357559,
                        "pitch": 0.2177600860595703,
                        "yaw": -179.82391357421875
                    }
                },
                "velocity": {
                    "x": 7.595084298372967e-06,
                    "y": 5.199644419917604e-06,
                    "z": 0.0003740091633517295
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0003484135086182505,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0008220752933993936,
                        "pitch": 0.21969301998615265,
                        "yaw": 179.875244140625
                    }
                },
                "velocity": {
                    "x": -1.179967057396425e-05,
                    "y": -1.5800651453901082e-05,
                    "z": -0.00034785494790412486
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0011547678150236607,
                "transform": {
                    "location": {
                        "x": 2187.8740234375,
                        "y": 2540.031494140625,
                        "z": 365.16558837890625
                    },
                    "rotation": {
                        "roll": -0.0009155272273346782,
                        "pitch": -0.025210225954651833,
                        "yaw": -91.31444549560547
                    }
                },
                "velocity": {
                    "x": -9.978411253541708e-05,
                    "y": 5.1776096370304e-05,
                    "z": 0.0011492827907204628
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.175363134592772e-05,
                "transform": {
                    "location": {
                        "x": 2185.009765625,
                        "y": 2500.006103515625,
                        "z": 365.07940673828125
                    },
                    "rotation": {
                        "roll": 0.0006473956746049225,
                        "pitch": 0.29369813203811646,
                        "yaw": 90.12141418457031
                    }
                },
                "velocity": {
                    "x": -1.8249607819598168e-05,
                    "y": 1.4508142385238898e-06,
                    "z": 6.93788897478953e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.9025302529335022,
                "transform": {
                    "location": {
                        "x": 2185.0048828125,
                        "y": 2509.3154296875,
                        "z": 365.12158203125
                    },
                    "rotation": {
                        "roll": 0.00018334230117034167,
                        "pitch": 0.19780226051807404,
                        "yaw": 90.12677001953125
                    }
                },
                "velocity": {
                    "x": -0.001987883821129799,
                    "y": 0.9025245308876038,
                    "z": 0.002520227339118719
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0004714160459116101,
                "transform": {
                    "location": {
                        "x": 2200.538818359375,
                        "y": 2524.274169921875,
                        "z": 365.51519775390625
                    },
                    "rotation": {
                        "roll": -0.0294494591653347,
                        "pitch": -1.4287935495376587,
                        "yaw": -178.95423889160156
                    }
                },
                "velocity": {
                    "x": -7.844105130061507e-05,
                    "y": 1.5521007298957556e-05,
                    "z": -0.00046458496944978833
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.407780647277832,
                "transform": {
                    "location": {
                        "x": 2167.452392578125,
                        "y": 2527.33447265625,
                        "z": 364.8172912597656
                    },
                    "rotation": {
                        "roll": -0.00039672860293649137,
                        "pitch": 0.8775768280029297,
                        "yaw": -0.311431884765625
                    }
                },
                "velocity": {
                    "x": 4.407251358032227,
                    "y": -0.011770001612603664,
                    "z": 0.06728042662143707
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.4282216727733612,
        "expert_target_speed": 0.0,
        "target_point": [
            28.566038811426928,
            -0.10538973069043317
        ],
        "target_point_next": [
            28.566038811426928,
            -0.10538973069043317
        ]
    },
    "600": {
        "acceleration": [
            -0.9044396877288818,
            0.0063485209830105305,
            -0.022645186632871628
        ],
        "angular_velocity": [
            -0.044319260865449905,
            0.18625332415103912,
            0.8027085661888123
        ],
        "forward_vector": [
            -0.9996867179870605,
            0.014668410643935204,
            -0.02028016373515129
        ],
        "right_vector": [
            -0.014667239971458912,
            -0.9998924136161804,
            -0.00020644802134484053
        ],
        "location": [
            2176.71630859375,
            2523.99365234375,
            364.9916076660156
        ],
        "rotation": [
            0.011831033043563366,
            -1.1620473861694336,
            179.15936279296875
        ],
        "velocity": [
            -0.07684209197759628,
            0.0012647637631744146,
            -0.0020892906468361616
        ],
        "speed": 0.07685249980885467,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 5.5700297355651855,
        "front_vehicle_info": {
            "id": 48755,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2171.16796875,
                2524.47509765625,
                364.89483642578125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "217,217,217"
        },
        "other_vehicles": [
            {
                "id": 48792,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.6743974685668945,
                "transform": {
                    "location": {
                        "x": 2140.399658203125,
                        "y": 2527.33544921875,
                        "z": 364.7886962890625
                    },
                    "rotation": {
                        "roll": 0.0008472437039017677,
                        "pitch": -0.1421840339899063,
                        "yaw": 0.32679757475852966
                    }
                },
                "velocity": {
                    "x": 5.674269676208496,
                    "y": 0.03215717151761055,
                    "z": -0.020374450832605362
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48788,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.8479222059249878,
                "transform": {
                    "location": {
                        "x": 2153.793212890625,
                        "y": 2527.35888671875,
                        "z": 364.7367858886719
                    },
                    "rotation": {
                        "roll": -0.0005493162898346782,
                        "pitch": -0.030401170253753662,
                        "yaw": -0.0005798338679596782
                    }
                },
                "velocity": {
                    "x": 1.8479188680648804,
                    "y": -0.002922944026067853,
                    "z": -0.0019283770816400647
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48787,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.001256205840036273,
                "transform": {
                    "location": {
                        "x": 2219.95849609375,
                        "y": 2524.274658203125,
                        "z": 366.0415954589844
                    },
                    "rotation": {
                        "roll": -0.006134031806141138,
                        "pitch": -1.7665941715240479,
                        "yaw": -179.92758178710938
                    }
                },
                "velocity": {
                    "x": 0.0008375176694244146,
                    "y": 0.00027363805565983057,
                    "z": -0.000895399134606123
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.4082255363464355,
                "transform": {
                    "location": {
                        "x": 2185.03955078125,
                        "y": 2471.683349609375,
                        "z": 364.88043212890625
                    },
                    "rotation": {
                        "roll": 0.0010707132751122117,
                        "pitch": 0.298356294631958,
                        "yaw": 90.09325408935547
                    }
                },
                "velocity": {
                    "x": -0.0037312135100364685,
                    "y": 2.4081387519836426,
                    "z": 0.02010851725935936
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00029086644644849,
                "transform": {
                    "location": {
                        "x": 2209.828369140625,
                        "y": 2524.287109375,
                        "z": 365.7567138671875
                    },
                    "rotation": {
                        "roll": -0.009765624068677425,
                        "pitch": -1.5474202632904053,
                        "yaw": -179.7457275390625
                    }
                },
                "velocity": {
                    "x": 9.257316560251638e-05,
                    "y": -0.00011599337449297309,
                    "z": 0.00025015801656991243
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48786,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0015928104985505342,
                "transform": {
                    "location": {
                        "x": 2187.90185546875,
                        "y": 2550.7275390625,
                        "z": 365.1548767089844
                    },
                    "rotation": {
                        "roll": -0.000610344810411334,
                        "pitch": -0.19110184907913208,
                        "yaw": -89.89404296875
                    }
                },
                "velocity": {
                    "x": -0.0003149824624415487,
                    "y": 0.0003057272988371551,
                    "z": 0.0015311309834942222
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.306870975298807e-05,
                "transform": {
                    "location": {
                        "x": 2185.02099609375,
                        "y": 2490.44873046875,
                        "z": 365.02349853515625
                    },
                    "rotation": {
                        "roll": -0.001159701612778008,
                        "pitch": 0.36661720275878906,
                        "yaw": 89.97561645507812
                    }
                },
                "velocity": {
                    "x": -2.8569167625391856e-05,
                    "y": -5.8886816987069324e-05,
                    "z": -3.2483563700225204e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48789,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.138981342315674,
                "transform": {
                    "location": {
                        "x": 2185.104248046875,
                        "y": 2459.266357421875,
                        "z": 364.7961120605469
                    },
                    "rotation": {
                        "roll": 0.003173581324517727,
                        "pitch": 0.6614218354225159,
                        "yaw": 90.35888671875
                    }
                },
                "velocity": {
                    "x": -0.018741821870207787,
                    "y": 2.1387929916381836,
                    "z": 0.021312542259693146
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48790,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.220949172973633,
                "transform": {
                    "location": {
                        "x": 2187.876953125,
                        "y": 2564.299560546875,
                        "z": 365.1102600097656
                    },
                    "rotation": {
                        "roll": 0.001179019338451326,
                        "pitch": 0.25075671076774597,
                        "yaw": -89.75447845458984
                    }
                },
                "velocity": {
                    "x": 0.01495946291834116,
                    "y": -5.220876216888428,
                    "z": 0.023238753899931908
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48791,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.257699728012085,
                "transform": {
                    "location": {
                        "x": 2230.94287109375,
                        "y": 2524.287841796875,
                        "z": 366.3825988769531
                    },
                    "rotation": {
                        "roll": -0.017486566677689552,
                        "pitch": -1.7151150703430176,
                        "yaw": -179.61326599121094
                    }
                },
                "velocity": {
                    "x": -1.25706148147583,
                    "y": -0.003234378295019269,
                    "z": -0.03993102163076401
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.44907310605049133,
                "transform": {
                    "location": {
                        "x": 2185.02734375,
                        "y": 2480.626220703125,
                        "z": 364.9408264160156
                    },
                    "rotation": {
                        "roll": 0.0014137586113065481,
                        "pitch": 0.44636648893356323,
                        "yaw": 90.34362030029297
                    }
                },
                "velocity": {
                    "x": 0.00014533294597640634,
                    "y": 0.449063241481781,
                    "z": 0.002972126007080078
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0001728895731503144,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.78143310546875
                    },
                    "rotation": {
                        "roll": 0.00298750726506114,
                        "pitch": 0.2177600860595703,
                        "yaw": -179.82386779785156
                    }
                },
                "velocity": {
                    "x": 8.772611181484535e-06,
                    "y": 1.0150484541782134e-07,
                    "z": 0.000172666841535829
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0003686222480610013,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0008220752933993936,
                        "pitch": 0.21969301998615265,
                        "yaw": 179.875244140625
                    }
                },
                "velocity": {
                    "x": -8.02509475761326e-06,
                    "y": -1.2480886546484271e-08,
                    "z": -0.0003685348783619702
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0002595887053757906,
                "transform": {
                    "location": {
                        "x": 2187.8740234375,
                        "y": 2540.031494140625,
                        "z": 365.16558837890625
                    },
                    "rotation": {
                        "roll": -0.0006103514460846782,
                        "pitch": -0.02105064131319523,
                        "yaw": -91.31444549560547
                    }
                },
                "velocity": {
                    "x": -7.679138798266649e-05,
                    "y": 2.5077326426981017e-05,
                    "z": 0.00024669923004694283
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002621800813358277,
                "transform": {
                    "location": {
                        "x": 2185.009765625,
                        "y": 2500.006103515625,
                        "z": 365.0794372558594
                    },
                    "rotation": {
                        "roll": 0.00028813903918489814,
                        "pitch": 0.2936161458492279,
                        "yaw": 90.12141418457031
                    }
                },
                "velocity": {
                    "x": -2.0887702703475952e-05,
                    "y": -3.0682829674333334e-05,
                    "z": 0.0002595393161755055
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.5488577485084534,
                "transform": {
                    "location": {
                        "x": 2185.00439453125,
                        "y": 2509.489013671875,
                        "z": 365.1217956542969
                    },
                    "rotation": {
                        "roll": -0.00012206397514091805,
                        "pitch": 0.23535464704036713,
                        "yaw": 90.05699157714844
                    }
                },
                "velocity": {
                    "x": -0.0024970152880996466,
                    "y": 0.5488469004631042,
                    "z": 0.0023821925278753042
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.735934923402965e-05,
                "transform": {
                    "location": {
                        "x": 2200.538818359375,
                        "y": 2524.274169921875,
                        "z": 365.51519775390625
                    },
                    "rotation": {
                        "roll": -0.0294494591653347,
                        "pitch": -1.4287935495376587,
                        "yaw": -178.95423889160156
                    }
                },
                "velocity": {
                    "x": -5.981922004139051e-05,
                    "y": 3.752069460460916e-05,
                    "z": 3.1596322514815256e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.523512125015259,
                "transform": {
                    "location": {
                        "x": 2168.25927734375,
                        "y": 2527.33203125,
                        "z": 364.8292541503906
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": 0.9184554815292358,
                        "yaw": -0.274139404296875
                    }
                },
                "velocity": {
                    "x": 3.523099899291992,
                    "y": -0.00868078414350748,
                    "z": 0.05319666862487793
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.43171367049217224,
        "expert_target_speed": 0.0,
        "target_point": [
            28.552095563853086,
            -0.11311287037994572
        ],
        "target_point_next": [
            28.552095563853086,
            -0.11311287037994572
        ]
    },
    "605": {
        "acceleration": [
            0.83881676197052,
            -0.009353593923151493,
            0.004807282239198685
        ],
        "angular_velocity": [
            0.003732197917997837,
            -0.15695610642433167,
            -0.7377399802207947
        ],
        "forward_vector": [
            -0.9996864795684814,
            0.01465243473649025,
            -0.020301973447203636
        ],
        "right_vector": [
            -0.014651225879788399,
            -0.9998926520347595,
            -0.00020830900757573545
        ],
        "location": [
            2176.703369140625,
            2523.99365234375,
            364.9913635253906
        ],
        "rotation": [
            0.011937687173485756,
            -1.1632972955703735,
            179.1602783203125
        ],
        "velocity": [
            -0.03260035067796707,
            0.0006932830438017845,
            -0.0011492633493617177
        ],
        "speed": 0.03260772156568519,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 5.557136535644531,
        "front_vehicle_info": {
            "id": 48755,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2171.16796875,
                2524.47509765625,
                364.89483642578125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "217,217,217"
        },
        "other_vehicles": [
            {
                "id": 48792,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.967787981033325,
                "transform": {
                    "location": {
                        "x": 2141.704833984375,
                        "y": 2527.343017578125,
                        "z": 364.78326416015625
                    },
                    "rotation": {
                        "roll": -0.0014343259390443563,
                        "pitch": -0.6502339839935303,
                        "yaw": 0.32081297039985657
                    }
                },
                "velocity": {
                    "x": 2.9677107334136963,
                    "y": 0.016930419951677322,
                    "z": -0.013098134659230709
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48788,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.6919515132904053,
                "transform": {
                    "location": {
                        "x": 2154.36669921875,
                        "y": 2527.358154296875,
                        "z": 364.7362365722656
                    },
                    "rotation": {
                        "roll": -0.0005493163480423391,
                        "pitch": -0.030428491532802582,
                        "yaw": -0.02639770321547985
                    }
                },
                "velocity": {
                    "x": 2.6919469833374023,
                    "y": -0.004213213920593262,
                    "z": -0.002513780491426587
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48787,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0011045729042962193,
                "transform": {
                    "location": {
                        "x": 2219.9580078125,
                        "y": 2524.274658203125,
                        "z": 366.0416259765625
                    },
                    "rotation": {
                        "roll": -0.005737305153161287,
                        "pitch": -1.7228946685791016,
                        "yaw": -179.92770385742188
                    }
                },
                "velocity": {
                    "x": 0.00017861396190710366,
                    "y": -0.00031270753243006766,
                    "z": 0.0010442185448482633
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.006234477274119854,
                "transform": {
                    "location": {
                        "x": 2185.0390625,
                        "y": 2471.82568359375,
                        "z": 364.8815612792969
                    },
                    "rotation": {
                        "roll": 3.091598273385898e-06,
                        "pitch": 0.09236464649438858,
                        "yaw": 89.92450714111328
                    }
                },
                "velocity": {
                    "x": -3.0966559279477224e-05,
                    "y": -0.00623302673920989,
                    "z": 0.00013084799866192043
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0007804669439792633,
                "transform": {
                    "location": {
                        "x": 2209.828369140625,
                        "y": 2524.287109375,
                        "z": 365.7567138671875
                    },
                    "rotation": {
                        "roll": -0.009765624068677425,
                        "pitch": -1.5474202632904053,
                        "yaw": -179.7457275390625
                    }
                },
                "velocity": {
                    "x": -5.356818292057142e-05,
                    "y": 4.7691155486973e-05,
                    "z": 0.0007771644741296768
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48786,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.1955074071884155,
                "transform": {
                    "location": {
                        "x": 2187.901611328125,
                        "y": 2550.5615234375,
                        "z": 365.15570068359375
                    },
                    "rotation": {
                        "roll": -0.0005187956849113107,
                        "pitch": 0.13812008500099182,
                        "yaw": -89.98538970947266
                    }
                },
                "velocity": {
                    "x": 0.000905555032659322,
                    "y": -1.1955064535140991,
                    "z": 0.0012542628683149815
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.02099609375,
                        "y": 2490.448974609375,
                        "z": 365.02349853515625
                    },
                    "rotation": {
                        "roll": -0.0011902118567377329,
                        "pitch": 0.36968398094177246,
                        "yaw": 89.97562408447266
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48789,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.35572880506515503,
                "transform": {
                    "location": {
                        "x": 2185.10302734375,
                        "y": 2459.476806640625,
                        "z": 364.8002014160156
                    },
                    "rotation": {
                        "roll": 0.0053074960596859455,
                        "pitch": 0.44424229860305786,
                        "yaw": 90.39873504638672
                    }
                },
                "velocity": {
                    "x": -0.002978014061227441,
                    "y": 0.3557056784629822,
                    "z": 0.002754278015345335
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48790,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.587329387664795,
                "transform": {
                    "location": {
                        "x": 2187.88134765625,
                        "y": 2562.946533203125,
                        "z": 365.1158447265625
                    },
                    "rotation": {
                        "roll": 0.0007435370935127139,
                        "pitch": 0.2489672154188156,
                        "yaw": -89.80840301513672
                    }
                },
                "velocity": {
                    "x": 0.015032736584544182,
                    "y": -5.587269306182861,
                    "z": 0.021073980256915092
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48791,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1402411460876465,
                "transform": {
                    "location": {
                        "x": 2230.514892578125,
                        "y": 2524.2861328125,
                        "z": 366.37017822265625
                    },
                    "rotation": {
                        "roll": -0.01516723819077015,
                        "pitch": -1.8407564163208008,
                        "yaw": -179.6746368408203
                    }
                },
                "velocity": {
                    "x": -2.139186143875122,
                    "y": -0.005071940831840038,
                    "z": -0.06699925661087036
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.226227045059204,
                "transform": {
                    "location": {
                        "x": 2185.02734375,
                        "y": 2480.845458984375,
                        "z": 364.94244384765625
                    },
                    "rotation": {
                        "roll": 0.0016091786092147231,
                        "pitch": 0.47589340806007385,
                        "yaw": 90.3214111328125
                    }
                },
                "velocity": {
                    "x": -0.0029593301005661488,
                    "y": 1.2261674404144287,
                    "z": 0.011731195263564587
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.002727779094129801,
                        "pitch": 0.2177600860595703,
                        "yaw": -179.82383728027344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.371829370735213e-05,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0012931519886478782,
                        "pitch": 0.2197066843509674,
                        "yaw": 179.87527465820312
                    }
                },
                "velocity": {
                    "x": 9.013414455694146e-06,
                    "y": 6.581404932148871e-07,
                    "z": -3.2484589610248804e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0004840741166844964,
                "transform": {
                    "location": {
                        "x": 2187.8740234375,
                        "y": 2540.031494140625,
                        "z": 365.16558837890625
                    },
                    "rotation": {
                        "roll": -0.0006103514460846782,
                        "pitch": -0.02105064131319523,
                        "yaw": -91.31444549560547
                    }
                },
                "velocity": {
                    "x": -7.258460300363367e-06,
                    "y": 7.082400315994164e-06,
                    "z": 0.0004839678877033293
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.04148790240287781,
                "transform": {
                    "location": {
                        "x": 2185.009765625,
                        "y": 2500.00537109375,
                        "z": 365.07940673828125
                    },
                    "rotation": {
                        "roll": 0.00015645608073100448,
                        "pitch": 0.2947772741317749,
                        "yaw": 90.1217269897461
                    }
                },
                "velocity": {
                    "x": 3.333916174597107e-05,
                    "y": -0.04148763418197632,
                    "z": -0.00014496802759822458
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.12713107466697693,
                "transform": {
                    "location": {
                        "x": 2185.0048828125,
                        "y": 2509.675537109375,
                        "z": 365.12249755859375
                    },
                    "rotation": {
                        "roll": 0.00012562576739583164,
                        "pitch": 0.2277936339378357,
                        "yaw": 90.16943359375
                    }
                },
                "velocity": {
                    "x": -6.613347795791924e-05,
                    "y": 0.12713101506233215,
                    "z": -0.0001034831948345527
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.2433806558838114e-05,
                "transform": {
                    "location": {
                        "x": 2200.538818359375,
                        "y": 2524.274169921875,
                        "z": 365.51519775390625
                    },
                    "rotation": {
                        "roll": -0.0294494591653347,
                        "pitch": -1.4287935495376587,
                        "yaw": -178.95423889160156
                    }
                },
                "velocity": {
                    "x": -5.057707312516868e-05,
                    "y": 5.756499831477413e-06,
                    "z": -1.2574838365253527e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.564549446105957,
                "transform": {
                    "location": {
                        "x": 2169.289306640625,
                        "y": 2527.330322265625,
                        "z": 364.84521484375
                    },
                    "rotation": {
                        "roll": -0.0038146970327943563,
                        "pitch": 1.0339676141738892,
                        "yaw": -0.31988525390625
                    }
                },
                "velocity": {
                    "x": 4.563867092132568,
                    "y": -0.008171658031642437,
                    "z": 0.07850436866283417
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.43393227458000183,
        "expert_target_speed": 0.0,
        "target_point": [
            28.539155716872973,
            -0.11375178384737644
        ],
        "target_point_next": [
            28.539155716872973,
            -0.11375178384737644
        ]
    },
    "610": {
        "acceleration": [
            -0.865286648273468,
            0.0033494201488792896,
            -0.016860581934452057
        ],
        "angular_velocity": [
            -0.04526127874851227,
            0.16469885408878326,
            0.7839833498001099
        ],
        "forward_vector": [
            -0.99969083070755,
            0.014383825473487377,
            -0.020280519500374794
        ],
        "right_vector": [
            -0.014382755383849144,
            -0.9998965859413147,
            -0.00019870197866111994
        ],
        "location": [
            2176.68994140625,
            2523.99365234375,
            364.9910888671875
        ],
        "rotation": [
            0.01138712652027607,
            -1.1620678901672363,
            179.17567443847656
        ],
        "velocity": [
            -0.07394387573003769,
            0.0010058203479275107,
            -0.0021503448951989412
        ],
        "speed": 0.0739507162409639,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 5.543756484985352,
        "front_vehicle_info": {
            "id": 48755,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2171.16796875,
                2524.47509765625,
                364.89483642578125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "217,217,217"
        },
        "other_vehicles": [
            {
                "id": 48792,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.7811490893363953,
                "transform": {
                    "location": {
                        "x": 2141.89599609375,
                        "y": 2527.343994140625,
                        "z": 364.78253173828125
                    },
                    "rotation": {
                        "roll": -0.0018005372257903218,
                        "pitch": -0.7081608176231384,
                        "yaw": 0.32189616560935974
                    }
                },
                "velocity": {
                    "x": 0.7811341881752014,
                    "y": 0.00457057124003768,
                    "z": -0.0015593814896419644
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48788,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.404021739959717,
                "transform": {
                    "location": {
                        "x": 2155.131103515625,
                        "y": 2527.357421875,
                        "z": 364.7356262207031
                    },
                    "rotation": {
                        "roll": -0.00027465817402116954,
                        "pitch": -0.031036376953125,
                        "yaw": -0.0545654222369194
                    }
                },
                "velocity": {
                    "x": 3.40401554107666,
                    "y": -0.006074085831642151,
                    "z": -0.0021303368266671896
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48787,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2219.9580078125,
                        "y": 2524.274658203125,
                        "z": 366.0416259765625
                    },
                    "rotation": {
                        "roll": -0.006042481400072575,
                        "pitch": -1.7140153646469116,
                        "yaw": -179.92771911621094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0019880339968949556,
                "transform": {
                    "location": {
                        "x": 2185.0390625,
                        "y": 2471.827392578125,
                        "z": 364.8816223144531
                    },
                    "rotation": {
                        "roll": -0.0003967208322137594,
                        "pitch": 0.39823415875434875,
                        "yaw": 89.92451477050781
                    }
                },
                "velocity": {
                    "x": -0.00012870714999735355,
                    "y": -0.0019817384891211987,
                    "z": -9.179304470308125e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0010033632861450315,
                "transform": {
                    "location": {
                        "x": 2209.828369140625,
                        "y": 2524.287109375,
                        "z": 365.7567138671875
                    },
                    "rotation": {
                        "roll": -0.009765624068677425,
                        "pitch": -1.5474202632904053,
                        "yaw": -179.7457275390625
                    }
                },
                "velocity": {
                    "x": -3.84411214326974e-05,
                    "y": -3.251670932513662e-05,
                    "z": 0.0010020992485806346
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48786,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.8215277194976807,
                "transform": {
                    "location": {
                        "x": 2187.90185546875,
                        "y": 2550.1611328125,
                        "z": 365.1565246582031
                    },
                    "rotation": {
                        "roll": -0.0013122569071128964,
                        "pitch": 0.18606117367744446,
                        "yaw": -89.882568359375
                    }
                },
                "velocity": {
                    "x": 0.003321687690913677,
                    "y": -1.821522831916809,
                    "z": 0.0026075744535773993
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.604934681789018e-05,
                "transform": {
                    "location": {
                        "x": 2185.02099609375,
                        "y": 2490.448974609375,
                        "z": 365.02349853515625
                    },
                    "rotation": {
                        "roll": -0.0009460409637540579,
                        "pitch": 0.37047627568244934,
                        "yaw": 89.97561645507812
                    }
                },
                "velocity": {
                    "x": 8.18074568087468e-06,
                    "y": -7.272139100678032e-06,
                    "z": 3.4347442124271765e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48789,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.2772409915924072,
                "transform": {
                    "location": {
                        "x": 2185.101318359375,
                        "y": 2459.70556640625,
                        "z": 364.80096435546875
                    },
                    "rotation": {
                        "roll": 0.0036468396428972483,
                        "pitch": 0.618746817111969,
                        "yaw": 90.43495178222656
                    }
                },
                "velocity": {
                    "x": -0.011479777283966541,
                    "y": 1.2771177291870117,
                    "z": 0.013532361947000027
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48790,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.0934102535247803,
                "transform": {
                    "location": {
                        "x": 2187.88427734375,
                        "y": 2561.8876953125,
                        "z": 365.1202392578125
                    },
                    "rotation": {
                        "roll": 0.00023180713469628245,
                        "pitch": 0.1623740792274475,
                        "yaw": -89.8319091796875
                    }
                },
                "velocity": {
                    "x": 0.0053831967525184155,
                    "y": -2.093391180038452,
                    "z": 0.007124061230570078
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48791,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9153938293457031,
                "transform": {
                    "location": {
                        "x": 2229.968505859375,
                        "y": 2524.28515625,
                        "z": 366.3525390625
                    },
                    "rotation": {
                        "roll": -0.01406860165297985,
                        "pitch": -1.7697087526321411,
                        "yaw": -179.7062530517578
                    }
                },
                "velocity": {
                    "x": -1.914461612701416,
                    "y": -0.004768275655806065,
                    "z": -0.05956193804740906
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.23052026331424713,
                "transform": {
                    "location": {
                        "x": 2185.0283203125,
                        "y": 2481.01513671875,
                        "z": 364.9438171386719
                    },
                    "rotation": {
                        "roll": 0.0016139940125867724,
                        "pitch": 0.41221556067466736,
                        "yaw": 90.43183898925781
                    }
                },
                "velocity": {
                    "x": -0.0014771108981221914,
                    "y": 0.2305115908384323,
                    "z": 0.0013463592622429132
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00028789156931452453,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.002614794997498393,
                        "pitch": 0.21771909296512604,
                        "yaw": -179.82383728027344
                    }
                },
                "velocity": {
                    "x": 7.423646366078174e-06,
                    "y": -1.0760766599560156e-05,
                    "z": -0.000287594593828544
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0003651088918559253,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0012931519886478782,
                        "pitch": 0.2197066843509674,
                        "yaw": 179.87527465820312
                    }
                },
                "velocity": {
                    "x": 5.7156753427989315e-06,
                    "y": 2.9916198400314897e-05,
                    "z": -0.00036383632686920464
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0008855112828314304,
                "transform": {
                    "location": {
                        "x": 2187.8740234375,
                        "y": 2540.031494140625,
                        "z": 365.16558837890625
                    },
                    "rotation": {
                        "roll": -0.0006103514460846782,
                        "pitch": -0.02105064131319523,
                        "yaw": -91.31444549560547
                    }
                },
                "velocity": {
                    "x": -7.66697121434845e-05,
                    "y": 5.965100172033999e-06,
                    "z": 0.000882165739312768
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.6237258315086365,
                "transform": {
                    "location": {
                        "x": 2185.010009765625,
                        "y": 2500.07568359375,
                        "z": 365.0802307128906
                    },
                    "rotation": {
                        "roll": 7.14241323294118e-05,
                        "pitch": 0.24187064170837402,
                        "yaw": 90.12474822998047
                    }
                },
                "velocity": {
                    "x": -0.002077503828331828,
                    "y": 0.6237160563468933,
                    "z": 0.0027992248069494963
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.15851213037967682,
                "transform": {
                    "location": {
                        "x": 2185.00439453125,
                        "y": 2509.80078125,
                        "z": 365.1228942871094
                    },
                    "rotation": {
                        "roll": -0.0007934690220281482,
                        "pitch": 0.23225374519824982,
                        "yaw": 90.12026977539062
                    }
                },
                "velocity": {
                    "x": -0.0001776201679604128,
                    "y": 0.15851198136806488,
                    "z": -0.00013659476826433092
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00033749695285223424,
                "transform": {
                    "location": {
                        "x": 2200.538818359375,
                        "y": 2524.274169921875,
                        "z": 365.51519775390625
                    },
                    "rotation": {
                        "roll": -0.0294494591653347,
                        "pitch": -1.4287935495376587,
                        "yaw": -178.95423889160156
                    }
                },
                "velocity": {
                    "x": -6.026014671078883e-05,
                    "y": -4.984982297173701e-05,
                    "z": -0.00032831067801453173
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0026319739408791065,
                "transform": {
                    "location": {
                        "x": 2169.875,
                        "y": 2527.327880859375,
                        "z": 364.857177734375
                    },
                    "rotation": {
                        "roll": 0.0012450600042939186,
                        "pitch": 0.7483974695205688,
                        "yaw": -0.1980895847082138
                    }
                },
                "velocity": {
                    "x": 7.926106627564877e-05,
                    "y": -0.00013816292630508542,
                    "z": -0.0026271496899425983
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.4160653352737427,
        "expert_target_speed": 0.0,
        "target_point": [
            28.525697806031467,
            -0.12160656174067619
        ],
        "target_point_next": [
            28.525697806031467,
            -0.12160656174067619
        ]
    },
    "615": {
        "acceleration": [
            0.9067100286483765,
            -0.009091430343687534,
            0.005930520128458738
        ],
        "angular_velocity": [
            0.012397599406540394,
            -0.1619642674922943,
            -0.7316821813583374
        ],
        "forward_vector": [
            -0.9996902346611023,
            0.014385010115802288,
            -0.02030840888619423
        ],
        "right_vector": [
            -0.014383895322680473,
            -0.9998965263366699,
            -0.00020098444656468928
        ],
        "location": [
            2176.677490234375,
            2523.99365234375,
            364.9908447265625
        ],
        "rotation": [
            0.011517936363816261,
            -1.1636661291122437,
            179.17559814453125
        ],
        "velocity": [
            -0.028556525707244873,
            0.0007560853264294565,
            -0.0014497374650090933
        ],
        "speed": 0.02856653331241611,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 5.531350135803223,
        "front_vehicle_info": {
            "id": 48755,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2171.16796875,
                2524.47509765625,
                364.89483642578125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "217,217,217"
        },
        "other_vehicles": [
            {
                "id": 48792,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.3079588413238525,
                "transform": {
                    "location": {
                        "x": 2142.3046875,
                        "y": 2527.34619140625,
                        "z": 364.78118896484375
                    },
                    "rotation": {
                        "roll": -0.004150389693677425,
                        "pitch": -0.07416219264268875,
                        "yaw": 0.3310970664024353
                    }
                },
                "velocity": {
                    "x": 2.307901382446289,
                    "y": 0.013949294574558735,
                    "z": -0.008412503637373447
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48788,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.14133882522583,
                "transform": {
                    "location": {
                        "x": 2156.07958984375,
                        "y": 2527.35595703125,
                        "z": 364.7359924316406
                    },
                    "rotation": {
                        "roll": 0.00040171793079935014,
                        "pitch": 0.025271698832511902,
                        "yaw": -0.072845458984375
                    }
                },
                "velocity": {
                    "x": 4.141313552856445,
                    "y": -0.0065254089422523975,
                    "z": 0.012877712026238441
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48787,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.32525038719177246,
                "transform": {
                    "location": {
                        "x": 2219.92822265625,
                        "y": 2524.274658203125,
                        "z": 366.0408020019531
                    },
                    "rotation": {
                        "roll": -0.005615234840661287,
                        "pitch": -1.6626591682434082,
                        "yaw": -179.92007446289062
                    }
                },
                "velocity": {
                    "x": -0.3251020610332489,
                    "y": -0.0005398494540713727,
                    "z": -0.009806212969124317
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0006374486838467419,
                "transform": {
                    "location": {
                        "x": 2185.0390625,
                        "y": 2471.828125,
                        "z": 364.8816833496094
                    },
                    "rotation": {
                        "roll": -0.0021667624823749065,
                        "pitch": 0.46695268154144287,
                        "yaw": 89.92457580566406
                    }
                },
                "velocity": {
                    "x": -5.50723125343211e-05,
                    "y": -0.00042501030839048326,
                    "z": -0.00047188354074023664
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00046963515342213213,
                "transform": {
                    "location": {
                        "x": 2209.828369140625,
                        "y": 2524.287109375,
                        "z": 365.7567138671875
                    },
                    "rotation": {
                        "roll": -0.009765624068677425,
                        "pitch": -1.5474202632904053,
                        "yaw": -179.7457275390625
                    }
                },
                "velocity": {
                    "x": -5.856662755832076e-05,
                    "y": 9.40814152272651e-06,
                    "z": 0.000465874036308378
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48786,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.001961702248081565,
                "transform": {
                    "location": {
                        "x": 2187.90185546875,
                        "y": 2550.05224609375,
                        "z": 365.1562805175781
                    },
                    "rotation": {
                        "roll": -0.003997805528342724,
                        "pitch": -0.0780007541179657,
                        "yaw": -89.78996276855469
                    }
                },
                "velocity": {
                    "x": 0.00020349433179944754,
                    "y": 0.0015459792921319604,
                    "z": 0.001190299866721034
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.006284425035119057,
                "transform": {
                    "location": {
                        "x": 2185.02099609375,
                        "y": 2490.44775390625,
                        "z": 365.02349853515625
                    },
                    "rotation": {
                        "roll": -0.0011596885742619634,
                        "pitch": 0.36740267276763916,
                        "yaw": 89.9754638671875
                    }
                },
                "velocity": {
                    "x": -8.544765296392143e-05,
                    "y": -0.006280320696532726,
                    "z": -0.000210399623028934
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48789,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.1856272220611572,
                "transform": {
                    "location": {
                        "x": 2185.0966796875,
                        "y": 2460.138671875,
                        "z": 364.8050842285156
                    },
                    "rotation": {
                        "roll": 0.004046727437525988,
                        "pitch": 0.6589219570159912,
                        "yaw": 90.34080505371094
                    }
                },
                "velocity": {
                    "x": -0.019092077389359474,
                    "y": 2.185431718826294,
                    "z": 0.022153472527861595
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48790,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.36014166474342346,
                "transform": {
                    "location": {
                        "x": 2187.885009765625,
                        "y": 2561.777587890625,
                        "z": 365.12054443359375
                    },
                    "rotation": {
                        "roll": -0.00018311524763703346,
                        "pitch": 0.17167679965496063,
                        "yaw": -89.882080078125
                    }
                },
                "velocity": {
                    "x": -6.248021963983774e-05,
                    "y": -0.3601367175579071,
                    "z": 0.0018877314869314432
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48791,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0008511670748703182,
                "transform": {
                    "location": {
                        "x": 2229.8671875,
                        "y": 2524.284423828125,
                        "z": 366.3482360839844
                    },
                    "rotation": {
                        "roll": -0.0086669921875,
                        "pitch": -1.6237475872039795,
                        "yaw": -179.79144287109375
                    }
                },
                "velocity": {
                    "x": 0.0008458119700662792,
                    "y": 3.525749343680218e-05,
                    "z": -8.85682602529414e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0004491128493100405,
                "transform": {
                    "location": {
                        "x": 2185.028076171875,
                        "y": 2481.056396484375,
                        "z": 364.94427490234375
                    },
                    "rotation": {
                        "roll": 0.0029838774353265762,
                        "pitch": 0.39854833483695984,
                        "yaw": 90.3941650390625
                    }
                },
                "velocity": {
                    "x": 1.573180634295568e-05,
                    "y": -2.57507708738558e-05,
                    "z": 0.00044809794053435326
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00043872915557585657,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.002614794997498393,
                        "pitch": 0.21771909296512604,
                        "yaw": -179.82383728027344
                    }
                },
                "velocity": {
                    "x": -1.695752160912889e-07,
                    "y": -9.475518709223252e-06,
                    "z": -0.00043862679740414023
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00015211489517241716,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0005295848823152483,
                        "pitch": 0.21963155269622803,
                        "yaw": 179.8752899169922
                    }
                },
                "velocity": {
                    "x": 1.8144621208193712e-05,
                    "y": -9.968969607143663e-06,
                    "z": -0.0001506994740338996
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0003643689851742238,
                "transform": {
                    "location": {
                        "x": 2187.8740234375,
                        "y": 2540.031494140625,
                        "z": 365.16558837890625
                    },
                    "rotation": {
                        "roll": -0.0006103514460846782,
                        "pitch": -0.02105064131319523,
                        "yaw": -91.31444549560547
                    }
                },
                "velocity": {
                    "x": -2.8361473596305586e-06,
                    "y": 9.970692644856172e-07,
                    "z": 0.0003643565869424492
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.457678198814392,
                "transform": {
                    "location": {
                        "x": 2185.009521484375,
                        "y": 2500.3515625,
                        "z": 365.0818786621094
                    },
                    "rotation": {
                        "roll": -0.00018310901941731572,
                        "pitch": 0.2131223827600479,
                        "yaw": 90.10367584228516
                    }
                },
                "velocity": {
                    "x": -0.0027519254945218563,
                    "y": 1.4576600790023804,
                    "z": 0.00673267338424921
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.19492541253566742,
                "transform": {
                    "location": {
                        "x": 2185.00439453125,
                        "y": 2509.914306640625,
                        "z": 365.1233215332031
                    },
                    "rotation": {
                        "roll": 0.0011871205642819405,
                        "pitch": 0.21700192987918854,
                        "yaw": 90.11495208740234
                    }
                },
                "velocity": {
                    "x": -0.00047825975343585014,
                    "y": 0.19492144882678986,
                    "z": 0.0011486720759421587
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0001521717495052144,
                "transform": {
                    "location": {
                        "x": 2200.538818359375,
                        "y": 2524.274169921875,
                        "z": 365.51519775390625
                    },
                    "rotation": {
                        "roll": -0.0294494591653347,
                        "pitch": -1.4287935495376587,
                        "yaw": -178.95423889160156
                    }
                },
                "velocity": {
                    "x": -4.5010147005086765e-05,
                    "y": -1.188935675600078e-05,
                    "z": -0.00014487571024801582
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0012992018600925803,
                "transform": {
                    "location": {
                        "x": 2169.8759765625,
                        "y": 2527.327880859375,
                        "z": 364.8560791015625
                    },
                    "rotation": {
                        "roll": -0.00024414050858467817,
                        "pitch": 0.9003281593322754,
                        "yaw": -0.198028564453125
                    }
                },
                "velocity": {
                    "x": -0.00032844109227880836,
                    "y": -4.950456786900759e-05,
                    "z": 0.0012560259783640504
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48755,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "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": -0.4237893223762512,
        "expert_target_speed": 0.0,
        "target_point": [
            28.51324809694987,
            -0.12174490352151712
        ],
        "target_point_next": [
            28.51324809694987,
            -0.12174490352151712
        ]
    },
    "620": {
        "acceleration": [
            -0.865242600440979,
            0.00463514681905508,
            -0.008462142199277878
        ],
        "angular_velocity": [
            -0.022829031571745872,
            0.19010606408119202,
            0.7773415446281433
        ],
        "forward_vector": [
            -0.9996951222419739,
            0.014114264398813248,
            -0.02025727927684784
        ],
        "right_vector": [
            -0.014113065786659718,
            -0.9999004006385803,
            -0.0002021672116825357
        ],
        "location": [
            2176.664794921875,
            2523.99365234375,
            364.9905700683594
        ],
        "rotation": [
            0.011585705913603306,
            -1.1607359647750854,
            179.1911163330078
        ],
        "velocity": [
            -0.07435905933380127,
            0.0011188744101673365,
            -0.001398391672410071
        ],
        "speed": 0.07436747666119582,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 36.47782516479492,
        "front_vehicle_info": {
            "id": 48767,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2140.19091796875,
                2524.48779296875,
                364.7814636230469
            ],
            "velocity": [
                6.978586043260293e-06,
                5.555655661737546e-05,
                -0.000289568561129272
            ],
            "speed_kmh": 0.0010617570224872657,
            "color": "61,86,143"
        },
        "other_vehicles": [
            {
                "id": 48792,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0009758921805769205,
                "transform": {
                    "location": {
                        "x": 2142.636474609375,
                        "y": 2527.347900390625,
                        "z": 364.7798767089844
                    },
                    "rotation": {
                        "roll": -0.004852294456213713,
                        "pitch": -0.5770211815834045,
                        "yaw": 0.39171943068504333
                    }
                },
                "velocity": {
                    "x": 0.0009015362011268735,
                    "y": -0.00037117506144568324,
                    "z": 4.274422099115327e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48788,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.892833709716797,
                "transform": {
                    "location": {
                        "x": 2157.211669921875,
                        "y": 2527.35400390625,
                        "z": 364.7384948730469
                    },
                    "rotation": {
                        "roll": -0.0005798339261673391,
                        "pitch": 0.171280637383461,
                        "yaw": -0.085235595703125
                    }
                },
                "velocity": {
                    "x": 4.892807960510254,
                    "y": -0.007646158337593079,
                    "z": 0.013865689747035503
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48787,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.2420023679733276,
                "transform": {
                    "location": {
                        "x": 2219.72900390625,
                        "y": 2524.274658203125,
                        "z": 366.0350341796875
                    },
                    "rotation": {
                        "roll": -0.00439453125,
                        "pitch": -1.576018214225769,
                        "yaw": -179.9550018310547
                    }
                },
                "velocity": {
                    "x": -1.2414675951004028,
                    "y": 0.0005031704204156995,
                    "z": -0.0364387109875679
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.000561651075258851,
                "transform": {
                    "location": {
                        "x": 2185.0390625,
                        "y": 2471.828369140625,
                        "z": 364.8816833496094
                    },
                    "rotation": {
                        "roll": -0.0013122439850121737,
                        "pitch": 0.4864802062511444,
                        "yaw": 89.92460632324219
                    }
                },
                "velocity": {
                    "x": 2.679776298464276e-05,
                    "y": -0.00017101979756262153,
                    "z": 0.0005343088996596634
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00031117579783312976,
                "transform": {
                    "location": {
                        "x": 2209.828369140625,
                        "y": 2524.287109375,
                        "z": 365.7567138671875
                    },
                    "rotation": {
                        "roll": -0.009765624068677425,
                        "pitch": -1.5474202632904053,
                        "yaw": -179.7457275390625
                    }
                },
                "velocity": {
                    "x": -2.066820889012888e-05,
                    "y": 5.830936424899846e-05,
                    "z": 0.0003049642837140709
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48786,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0014860958326607943,
                "transform": {
                    "location": {
                        "x": 2187.90185546875,
                        "y": 2550.05126953125,
                        "z": 365.15643310546875
                    },
                    "rotation": {
                        "roll": 0.0002291632554261014,
                        "pitch": 0.045113395899534225,
                        "yaw": -89.78997039794922
                    }
                },
                "velocity": {
                    "x": 7.946972618810833e-05,
                    "y": 0.00048521129065193236,
                    "z": 0.001402403344400227
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.012027496472001076,
                "transform": {
                    "location": {
                        "x": 2185.02099609375,
                        "y": 2490.444580078125,
                        "z": 365.02349853515625
                    },
                    "rotation": {
                        "roll": -0.0006713867769576609,
                        "pitch": 0.36917853355407715,
                        "yaw": 89.97535705566406
                    }
                },
                "velocity": {
                    "x": 4.4817057641921565e-05,
                    "y": -0.012013837695121765,
                    "z": -0.0005712699494324625
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48789,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.4435642957687378,
                "transform": {
                    "location": {
                        "x": 2185.09326171875,
                        "y": 2460.635009765625,
                        "z": 364.8115539550781
                    },
                    "rotation": {
                        "roll": 0.006787096615880728,
                        "pitch": 0.47828397154808044,
                        "yaw": 90.46177673339844
                    }
                },
                "velocity": {
                    "x": 0.003032175824046135,
                    "y": 0.443534791469574,
                    "z": 0.004120273515582085
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48790,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.0645686388015747,
                "transform": {
                    "location": {
                        "x": 2187.885009765625,
                        "y": 2561.593017578125,
                        "z": 365.1208190917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.22836053371429443,
                        "yaw": -89.88986206054688
                    }
                },
                "velocity": {
                    "x": 0.002855869708582759,
                    "y": -1.0645601749420166,
                    "z": 0.0031577872578054667
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48791,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0011907955631613731,
                "transform": {
                    "location": {
                        "x": 2229.86767578125,
                        "y": 2524.284423828125,
                        "z": 366.3492431640625
                    },
                    "rotation": {
                        "roll": -0.00994873046875,
                        "pitch": -1.7515199184417725,
                        "yaw": -179.79150390625
                    }
                },
                "velocity": {
                    "x": 0.00022535085736308247,
                    "y": 2.5381445084349252e-05,
                    "z": -0.0011690024985000491
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0015415371162816882,
                "transform": {
                    "location": {
                        "x": 2185.028076171875,
                        "y": 2481.0595703125,
                        "z": 364.9441833496094
                    },
                    "rotation": {
                        "roll": 0.002843514084815979,
                        "pitch": 0.4143602252006531,
                        "yaw": 90.39395904541016
                    }
                },
                "velocity": {
                    "x": 0.00016508850967511535,
                    "y": -4.761606396641582e-05,
                    "z": 0.0015319319209083915
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00029493251349776983,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.002614794997498393,
                        "pitch": 0.21771909296512604,
                        "yaw": -179.82383728027344
                    }
                },
                "velocity": {
                    "x": 6.978586043260293e-06,
                    "y": 5.555655661737546e-05,
                    "z": -0.000289568561129272
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0008483477286063135,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0005295848823152483,
                        "pitch": 0.21963155269622803,
                        "yaw": 179.8752899169922
                    }
                },
                "velocity": {
                    "x": 3.360509799676947e-05,
                    "y": -2.6612667625158792e-06,
                    "z": -0.0008476777002215385
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0010118187637999654,
                "transform": {
                    "location": {
                        "x": 2187.8740234375,
                        "y": 2540.031494140625,
                        "z": 365.16558837890625
                    },
                    "rotation": {
                        "roll": -0.0006103514460846782,
                        "pitch": -0.02105064131319523,
                        "yaw": -91.31444549560547
                    }
                },
                "velocity": {
                    "x": -8.242849435191602e-05,
                    "y": 2.2559868739335798e-05,
                    "z": 0.0010082032531499863
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1339962482452393,
                "transform": {
                    "location": {
                        "x": 2185.00927734375,
                        "y": 2500.823974609375,
                        "z": 365.0841979980469
                    },
                    "rotation": {
                        "roll": -0.00021361840481404215,
                        "pitch": 0.22101807594299316,
                        "yaw": 90.10237884521484
                    }
                },
                "velocity": {
                    "x": -0.0029232874512672424,
                    "y": 2.1339704990386963,
                    "z": 0.010056409984827042
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.1886787861585617,
                "transform": {
                    "location": {
                        "x": 2185.004150390625,
                        "y": 2510.033447265625,
                        "z": 365.1238098144531
                    },
                    "rotation": {
                        "roll": 0.0006733519840054214,
                        "pitch": 0.21528072655200958,
                        "yaw": 90.10955810546875
                    }
                },
                "velocity": {
                    "x": -0.0003722977126017213,
                    "y": 0.18867842853069305,
                    "z": 2.2010803149896674e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00029947730945423245,
                "transform": {
                    "location": {
                        "x": 2200.538818359375,
                        "y": 2524.274169921875,
                        "z": 365.51519775390625
                    },
                    "rotation": {
                        "roll": -0.0294494591653347,
                        "pitch": -1.4287935495376587,
                        "yaw": -178.95423889160156
                    }
                },
                "velocity": {
                    "x": -3.679916335386224e-05,
                    "y": 2.1396184820332564e-05,
                    "z": -0.00029643665766343474
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0015928354114294052,
                "transform": {
                    "location": {
                        "x": 2169.876220703125,
                        "y": 2527.327880859375,
                        "z": 364.8557434082031
                    },
                    "rotation": {
                        "roll": 0.00012449758651200682,
                        "pitch": 0.9507964253425598,
                        "yaw": -0.1979675143957138
                    }
                },
                "velocity": {
                    "x": -0.0001446829701308161,
                    "y": 2.6664636720852286e-07,
                    "z": 0.0015862507279962301
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.4258533716201782,
        "expert_target_speed": 1.2525849987513784,
        "target_point": [
            28.500519968126255,
            -0.12966033988024328
        ],
        "target_point_next": [
            28.500519968126255,
            -0.12966033988024328
        ]
    },
    "625": {
        "acceleration": [
            0.8551191091537476,
            -0.00358869438059628,
            0.017704389989376068
        ],
        "angular_velocity": [
            -0.011979971081018448,
            -0.16905170679092407,
            -0.7546323537826538
        ],
        "forward_vector": [
            -0.9996947050094604,
            0.014082313515245914,
            -0.020303044468164444
        ],
        "right_vector": [
            -0.014081241562962532,
            -0.9999008774757385,
            -0.00019577250350266695
        ],
        "location": [
            2176.65234375,
            2523.99365234375,
            364.9903564453125
        ],
        "rotation": [
            0.011219250038266182,
            -1.1633586883544922,
            179.1929473876953
        ],
        "velocity": [
            -0.029665758833289146,
            0.000838021223898977,
            -0.000734033586923033
        ],
        "speed": 0.02967759300763083,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 36.465370178222656,
        "front_vehicle_info": {
            "id": 48767,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2140.19091796875,
                2524.48779296875,
                364.7814636230469
            ],
            "velocity": [
                6.210729225131217e-06,
                2.8836706405854784e-05,
                -0.00016855642024893314
            ],
            "speed_kmh": 0.000616025070097561,
            "color": "61,86,143"
        },
        "other_vehicles": [
            {
                "id": 48792,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.4138612747192383,
                "transform": {
                    "location": {
                        "x": 2142.840576171875,
                        "y": 2527.3486328125,
                        "z": 364.7791748046875
                    },
                    "rotation": {
                        "roll": 1.923283161886502e-05,
                        "pitch": -0.12752646207809448,
                        "yaw": 0.35368219017982483
                    }
                },
                "velocity": {
                    "x": 1.4138462543487549,
                    "y": 0.004021220840513706,
                    "z": -0.0051254271529614925
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48788,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.592328071594238,
                "transform": {
                    "location": {
                        "x": 2158.487548828125,
                        "y": 2527.351806640625,
                        "z": 364.7413330078125
                    },
                    "rotation": {
                        "roll": 0.00017179334827233106,
                        "pitch": 0.3067437708377838,
                        "yaw": -0.0930786058306694
                    }
                },
                "velocity": {
                    "x": 4.59230899810791,
                    "y": -0.008681722916662693,
                    "z": 0.009991616941988468
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48787,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.9796885251998901,
                "transform": {
                    "location": {
                        "x": 2219.29833984375,
                        "y": 2524.2744140625,
                        "z": 366.0223083496094
                    },
                    "rotation": {
                        "roll": -0.009674073196947575,
                        "pitch": -1.551634430885315,
                        "yaw": -179.85711669921875
                    }
                },
                "velocity": {
                    "x": -1.9788047075271606,
                    "y": 3.91474577554618e-06,
                    "z": -0.05915062129497528
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00013361719902604818,
                "transform": {
                    "location": {
                        "x": 2185.0390625,
                        "y": 2471.828369140625,
                        "z": 364.8816833496094
                    },
                    "rotation": {
                        "roll": -0.002227789955213666,
                        "pitch": 0.4895264506340027,
                        "yaw": 89.92460632324219
                    }
                },
                "velocity": {
                    "x": -7.168000593082979e-05,
                    "y": -1.1496692422952037e-05,
                    "z": -0.00011217557766940445
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.000461904623080045,
                "transform": {
                    "location": {
                        "x": 2209.828369140625,
                        "y": 2524.287109375,
                        "z": 365.7567138671875
                    },
                    "rotation": {
                        "roll": -0.010803221724927425,
                        "pitch": -1.5404671430587769,
                        "yaw": -179.74615478515625
                    }
                },
                "velocity": {
                    "x": 6.318092346191406e-06,
                    "y": -0.00014912482583895326,
                    "z": 0.0004371244285721332
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48786,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.001149372081272304,
                "transform": {
                    "location": {
                        "x": 2187.90185546875,
                        "y": 2550.051025390625,
                        "z": 365.1564636230469
                    },
                    "rotation": {
                        "roll": 6.693456089124084e-05,
                        "pitch": 0.06812430173158646,
                        "yaw": -89.79000854492188
                    }
                },
                "velocity": {
                    "x": 0.00028984941309317946,
                    "y": 0.00015319597150664777,
                    "z": 0.0011016236385330558
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.38559260964393616,
                "transform": {
                    "location": {
                        "x": 2185.021240234375,
                        "y": 2490.468017578125,
                        "z": 365.023193359375
                    },
                    "rotation": {
                        "roll": -0.00164794793818146,
                        "pitch": 0.4225359559059143,
                        "yaw": 89.99642181396484
                    }
                },
                "velocity": {
                    "x": -0.0004995097988285124,
                    "y": 0.38558515906333923,
                    "z": 0.0023433875758200884
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48789,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.1122006177902222,
                "transform": {
                    "location": {
                        "x": 2185.09228515625,
                        "y": 2460.770263671875,
                        "z": 364.8121337890625
                    },
                    "rotation": {
                        "roll": 0.005431836936622858,
                        "pitch": 0.563408613204956,
                        "yaw": 90.48062133789062
                    }
                },
                "velocity": {
                    "x": -0.00949111394584179,
                    "y": 1.1120964288711548,
                    "z": 0.011897983029484749
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48790,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9154084920883179,
                "transform": {
                    "location": {
                        "x": 2187.88623046875,
                        "y": 2561.21630859375,
                        "z": 365.12213134765625
                    },
                    "rotation": {
                        "roll": 0.0013042297214269638,
                        "pitch": 0.23044374585151672,
                        "yaw": -89.859130859375
                    }
                },
                "velocity": {
                    "x": 0.0048576281405985355,
                    "y": -1.915392279624939,
                    "z": 0.006202974356710911
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48791,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.07041501253843307,
                "transform": {
                    "location": {
                        "x": 2229.8642578125,
                        "y": 2524.284423828125,
                        "z": 366.3492736816406
                    },
                    "rotation": {
                        "roll": -0.01000976376235485,
                        "pitch": -1.7727960348129272,
                        "yaw": -179.79104614257812
                    }
                },
                "velocity": {
                    "x": -0.07037891447544098,
                    "y": -0.00016863744531292468,
                    "z": -0.002248039236292243
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0008439549128524959,
                "transform": {
                    "location": {
                        "x": 2185.028076171875,
                        "y": 2481.0595703125,
                        "z": 364.944091796875
                    },
                    "rotation": {
                        "roll": 0.0031422795727849007,
                        "pitch": 0.42316433787345886,
                        "yaw": 90.39397430419922
                    }
                },
                "velocity": {
                    "x": 0.00015731614257674664,
                    "y": -4.450492633623071e-05,
                    "z": 0.0008279678877443075
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0001711180666461587,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.0026242081075906754,
                        "pitch": 0.21771226823329926,
                        "yaw": -179.82383728027344
                    }
                },
                "velocity": {
                    "x": 6.210729225131217e-06,
                    "y": 2.8836706405854784e-05,
                    "z": -0.00016855642024893314
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0004947708221152425,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0005295848823152483,
                        "pitch": 0.21963155269622803,
                        "yaw": 179.8752899169922
                    }
                },
                "velocity": {
                    "x": -3.11277790387976e-06,
                    "y": 5.6980603403644636e-05,
                    "z": -0.0004914688761346042
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0003287058207206428,
                "transform": {
                    "location": {
                        "x": 2187.8740234375,
                        "y": 2540.031494140625,
                        "z": 365.16558837890625
                    },
                    "rotation": {
                        "roll": -0.0006103514460846782,
                        "pitch": -0.02105064131319523,
                        "yaw": -91.31444549560547
                    }
                },
                "velocity": {
                    "x": 1.7803664377424866e-05,
                    "y": 2.27218206418911e-05,
                    "z": 0.0003274359041824937
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0006676223711110651,
                "transform": {
                    "location": {
                        "x": 2185.00927734375,
                        "y": 2501.12060546875,
                        "z": 365.0836181640625
                    },
                    "rotation": {
                        "roll": 0.0009892111411318183,
                        "pitch": 0.47769656777381897,
                        "yaw": 90.09142303466797
                    }
                },
                "velocity": {
                    "x": -1.7899414160638116e-05,
                    "y": 0.0002826874260790646,
                    "z": 0.0006045552436262369
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.47950756549835205,
                "transform": {
                    "location": {
                        "x": 2185.00439453125,
                        "y": 2510.115234375,
                        "z": 365.1241760253906
                    },
                    "rotation": {
                        "roll": 0.0012574888532981277,
                        "pitch": 0.19227664172649384,
                        "yaw": 90.12466430664062
                    }
                },
                "velocity": {
                    "x": -0.0012011798098683357,
                    "y": 0.47950080037117004,
                    "z": 0.002244663191959262
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00040232649189420044,
                "transform": {
                    "location": {
                        "x": 2200.538818359375,
                        "y": 2524.274169921875,
                        "z": 365.51519775390625
                    },
                    "rotation": {
                        "roll": -0.0294494591653347,
                        "pitch": -1.4287935495376587,
                        "yaw": -178.95423889160156
                    }
                },
                "velocity": {
                    "x": -7.770240335958079e-05,
                    "y": -2.606294037832413e-05,
                    "z": 0.00039389042649418116
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0013287645997479558,
                "transform": {
                    "location": {
                        "x": 2169.87646484375,
                        "y": 2527.327880859375,
                        "z": 364.85577392578125
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": 0.9666014909744263,
                        "yaw": -0.1979064792394638
                    }
                },
                "velocity": {
                    "x": -8.693114068591967e-05,
                    "y": 2.4867553293006495e-05,
                    "z": 0.0013256847159937024
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.4272332489490509,
        "expert_target_speed": 1.2080221553138446,
        "target_point": [
            28.48806593675313,
            -0.13073266526541594
        ],
        "target_point_next": [
            28.48806593675313,
            -0.13073266526541594
        ]
    },
    "630": {
        "acceleration": [
            -0.8313684463500977,
            0.007245420478284359,
            -0.017502402886748314
        ],
        "angular_velocity": [
            -0.030224619433283806,
            0.16958625614643097,
            0.7870731949806213
        ],
        "forward_vector": [
            -0.9996989369392395,
            0.013828246854245663,
            -0.020266812294721603
        ],
        "right_vector": [
            -0.013827327638864517,
            -0.9999043941497803,
            -0.000185474767931737
        ],
        "location": [
            2176.638916015625,
            2523.99365234375,
            364.9900817871094
        ],
        "rotation": [
            0.01062910445034504,
            -1.1612823009490967,
            179.20751953125
        ],
        "velocity": [
            -0.07266011089086533,
            0.0009828669717535377,
            -0.0021733473986387253
        ],
        "speed": 0.0726667581646313,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 36.45194625854492,
        "front_vehicle_info": {
            "id": 48767,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2140.19091796875,
                2524.48779296875,
                364.7814636230469
            ],
            "velocity": [
                -4.865974005952012e-07,
                -2.422830903014983e-06,
                -0.00033402920234948397
            ],
            "speed_kmh": 0.0012025380364955871,
            "color": "61,86,143"
        },
        "other_vehicles": [
            {
                "id": 48792,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.8232502937316895,
                "transform": {
                    "location": {
                        "x": 2143.3828125,
                        "y": 2527.35009765625,
                        "z": 364.7771301269531
                    },
                    "rotation": {
                        "roll": 0.0004067992267664522,
                        "pitch": 0.0236187931150198,
                        "yaw": 0.3148963153362274
                    }
                },
                "velocity": {
                    "x": 2.8232171535491943,
                    "y": 0.008735713548958302,
                    "z": -0.010551500134170055
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48788,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0024340038653463125,
                "transform": {
                    "location": {
                        "x": 2159.00439453125,
                        "y": 2527.350830078125,
                        "z": 364.7445373535156
                    },
                    "rotation": {
                        "roll": -0.00024414061044808477,
                        "pitch": 0.20638097822666168,
                        "yaw": -0.0945434495806694
                    }
                },
                "velocity": {
                    "x": -3.633126425484079e-06,
                    "y": -5.095617234474048e-05,
                    "z": 0.0024334676563739777
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48787,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0015815244987607002,
                "transform": {
                    "location": {
                        "x": 2219.138916015625,
                        "y": 2524.2744140625,
                        "z": 366.01708984375
                    },
                    "rotation": {
                        "roll": -0.01544189453125,
                        "pitch": -1.8648327589035034,
                        "yaw": -179.76712036132812
                    }
                },
                "velocity": {
                    "x": 0.001574507332406938,
                    "y": 7.63373463996686e-05,
                    "z": -0.0001277462433790788
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0003407036419957876,
                "transform": {
                    "location": {
                        "x": 2185.0390625,
                        "y": 2471.828369140625,
                        "z": 364.8816833496094
                    },
                    "rotation": {
                        "roll": -0.002227789955213666,
                        "pitch": 0.4895264506340027,
                        "yaw": 89.92460632324219
                    }
                },
                "velocity": {
                    "x": 2.0899729861412197e-05,
                    "y": 1.7757787645678036e-05,
                    "z": 0.0003395980456843972
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0005278441240079701,
                "transform": {
                    "location": {
                        "x": 2209.828369140625,
                        "y": 2524.287109375,
                        "z": 365.7567138671875
                    },
                    "rotation": {
                        "roll": -0.010803221724927425,
                        "pitch": -1.5404671430587769,
                        "yaw": -179.74615478515625
                    }
                },
                "velocity": {
                    "x": -0.00010139733058167621,
                    "y": -5.182448148843832e-05,
                    "z": 0.000515414634719491
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48786,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0010310099460184574,
                "transform": {
                    "location": {
                        "x": 2187.90185546875,
                        "y": 2550.05078125,
                        "z": 365.1565246582031
                    },
                    "rotation": {
                        "roll": 0.0006048224749974906,
                        "pitch": 0.07943509519100189,
                        "yaw": -89.78997039794922
                    }
                },
                "velocity": {
                    "x": 5.179950676392764e-06,
                    "y": 1.1854599506477825e-05,
                    "z": 0.001030928804539144
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.0417348146438599,
                "transform": {
                    "location": {
                        "x": 2185.02099609375,
                        "y": 2490.673583984375,
                        "z": 365.02362060546875
                    },
                    "rotation": {
                        "roll": -0.002105714287608862,
                        "pitch": 0.544741690158844,
                        "yaw": 89.98438262939453
                    }
                },
                "velocity": {
                    "x": -0.0015793652273714542,
                    "y": 1.04171621799469,
                    "z": 0.006033382378518581
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48789,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.8375593423843384,
                "transform": {
                    "location": {
                        "x": 2185.089111328125,
                        "y": 2461.140869140625,
                        "z": 364.8152770996094
                    },
                    "rotation": {
                        "roll": 0.004860886372625828,
                        "pitch": 0.6360135078430176,
                        "yaw": 90.5054702758789
                    }
                },
                "velocity": {
                    "x": -0.016123229637742043,
                    "y": 1.8374013900756836,
                    "z": 0.017908573150634766
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48790,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.4988869428634644,
                "transform": {
                    "location": {
                        "x": 2187.887451171875,
                        "y": 2560.71484375,
                        "z": 365.1240539550781
                    },
                    "rotation": {
                        "roll": 0.002089077141135931,
                        "pitch": 0.20297272503376007,
                        "yaw": -89.86410522460938
                    }
                },
                "velocity": {
                    "x": 0.002652477938681841,
                    "y": -1.4988768100738525,
                    "z": 0.004844284150749445
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48791,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.7282420992851257,
                "transform": {
                    "location": {
                        "x": 2229.7724609375,
                        "y": 2524.28466796875,
                        "z": 366.34686279296875
                    },
                    "rotation": {
                        "roll": -0.010498046875,
                        "pitch": -1.8282161951065063,
                        "yaw": -179.76344299316406
                    }
                },
                "velocity": {
                    "x": -0.7278860211372375,
                    "y": -0.0008571942453272641,
                    "z": -0.022755473852157593
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.49758380651474,
                "transform": {
                    "location": {
                        "x": 2185.028076171875,
                        "y": 2481.10107421875,
                        "z": 364.94427490234375
                    },
                    "rotation": {
                        "roll": 0.0027825876604765654,
                        "pitch": 0.4508402645587921,
                        "yaw": 90.40544891357422
                    }
                },
                "velocity": {
                    "x": -0.002130926586687565,
                    "y": 0.4975670576095581,
                    "z": 0.003482990199699998
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0003340383409522474,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.0026242081075906754,
                        "pitch": 0.21771226823329926,
                        "yaw": -179.82383728027344
                    }
                },
                "velocity": {
                    "x": -4.865974005952012e-07,
                    "y": -2.422830903014983e-06,
                    "z": -0.00033402920234948397
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0001958670763997361,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0005295848823152483,
                        "pitch": 0.21963155269622803,
                        "yaw": 179.8752899169922
                    }
                },
                "velocity": {
                    "x": -8.011706086108461e-05,
                    "y": 7.82248898758553e-05,
                    "z": -0.00016070480342023075
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0002014315250562504,
                "transform": {
                    "location": {
                        "x": 2187.8740234375,
                        "y": 2540.031494140625,
                        "z": 365.16558837890625
                    },
                    "rotation": {
                        "roll": -0.0006103514460846782,
                        "pitch": -0.02105064131319523,
                        "yaw": -91.31444549560547
                    }
                },
                "velocity": {
                    "x": -0.00017177789413835853,
                    "y": 1.8246919353259727e-06,
                    "z": 0.00010518405179027468
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0015791939804330468,
                "transform": {
                    "location": {
                        "x": 2185.00927734375,
                        "y": 2501.119873046875,
                        "z": 365.0847473144531
                    },
                    "rotation": {
                        "roll": 0.0016981856897473335,
                        "pitch": 0.3407581150531769,
                        "yaw": 90.09142303466797
                    }
                },
                "velocity": {
                    "x": 2.9084490961395204e-05,
                    "y": -0.0005295122391544282,
                    "z": 0.0014874893240630627
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.39535579085350037,
                "transform": {
                    "location": {
                        "x": 2185.00244140625,
                        "y": 2510.213623046875,
                        "z": 365.12445068359375
                    },
                    "rotation": {
                        "roll": -0.00021362474944908172,
                        "pitch": 0.19541169703006744,
                        "yaw": 89.962646484375
                    }
                },
                "velocity": {
                    "x": -0.0011972662759944797,
                    "y": 0.3953498899936676,
                    "z": 0.0017991828499361873
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2200.538818359375,
                        "y": 2524.274169921875,
                        "z": 365.51519775390625
                    },
                    "rotation": {
                        "roll": -0.0294494591653347,
                        "pitch": -1.4287935495376587,
                        "yaw": -178.95423889160156
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0011807471746578813,
                "transform": {
                    "location": {
                        "x": 2169.87646484375,
                        "y": 2527.327880859375,
                        "z": 364.8557434082031
                    },
                    "rotation": {
                        "roll": -0.0008850094745866954,
                        "pitch": 0.967926561832428,
                        "yaw": -0.1979064643383026
                    }
                },
                "velocity": {
                    "x": -6.340488471323624e-05,
                    "y": -1.337781304755481e-05,
                    "z": 0.0011789676500484347
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48793,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.366356372833252,
                "transform": {
                    "location": {
                        "x": 2187.77685546875,
                        "y": 2576.30126953125,
                        "z": 365.1339416503906
                    },
                    "rotation": {
                        "roll": 0.00046586315147578716,
                        "pitch": 0.36756661534309387,
                        "yaw": -89.93968963623047
                    }
                },
                "velocity": {
                    "x": -0.00018132870900444686,
                    "y": 0.0005140990251675248,
                    "z": -2.366356372833252
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.4297858476638794,
        "expert_target_speed": 1.2508731590278028,
        "target_point": [
            28.4746052745865,
            -0.13817232165050747
        ],
        "target_point_next": [
            28.4746052745865,
            -0.13817232165050747
        ]
    },
    "635": {
        "acceleration": [
            -1.7780461311340332,
            0.018505141139030457,
            -0.02576255239546299
        ],
        "angular_velocity": [
            -0.019469046965241432,
            0.48711103200912476,
            0.014426852576434612
        ],
        "forward_vector": [
            -0.9997225999832153,
            0.013732261024415493,
            -0.01913144439458847
        ],
        "right_vector": [
            -0.013731026090681553,
            -0.9999057054519653,
            -0.0001959400688065216
        ],
        "location": [
            2176.60595703125,
            2523.994140625,
            364.9891357421875
        ],
        "rotation": [
            0.011228593997657299,
            -1.0962179899215698,
            179.21302795410156
        ],
        "velocity": [
            -0.3206571936607361,
            0.004824778530746698,
            -0.005694160237908363
        ],
        "speed": 0.32069348969732697,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 36.418975830078125,
        "front_vehicle_info": {
            "id": 48767,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2140.19091796875,
                2524.48779296875,
                364.78143310546875
            ],
            "velocity": [
                4.7085059122764505e-06,
                7.740571163594723e-06,
                -6.767052400391549e-05
            ],
            "speed_kmh": 0.00024578764473265406,
            "color": "61,86,143"
        },
        "other_vehicles": [
            {
                "id": 48792,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.4588558673858643,
                "transform": {
                    "location": {
                        "x": 2144.2353515625,
                        "y": 2527.35205078125,
                        "z": 364.77392578125
                    },
                    "rotation": {
                        "roll": 0.0013119224458932877,
                        "pitch": -0.050502415746450424,
                        "yaw": 0.23708289861679077
                    }
                },
                "velocity": {
                    "x": 3.4588212966918945,
                    "y": 0.008749755099415779,
                    "z": -0.012768811546266079
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48788,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.9363038539886475,
                "transform": {
                    "location": {
                        "x": 2159.131591796875,
                        "y": 2527.35107421875,
                        "z": 364.7447814941406
                    },
                    "rotation": {
                        "roll": -0.00021362301777116954,
                        "pitch": 0.2847096025943756,
                        "yaw": -0.1108703464269638
                    }
                },
                "velocity": {
                    "x": 0.9362942576408386,
                    "y": -0.0015802271664142609,
                    "z": 0.003927059005945921
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48787,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0006694506155326962,
                "transform": {
                    "location": {
                        "x": 2219.1376953125,
                        "y": 2524.2744140625,
                        "z": 366.0172424316406
                    },
                    "rotation": {
                        "roll": -0.011993407271802425,
                        "pitch": -1.7181681394577026,
                        "yaw": -179.76724243164062
                    }
                },
                "velocity": {
                    "x": 0.0005710439290851355,
                    "y": -0.00013898043835069984,
                    "z": 0.00032055797055363655
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0009117837180383503,
                "transform": {
                    "location": {
                        "x": 2185.0390625,
                        "y": 2471.828369140625,
                        "z": 364.8816833496094
                    },
                    "rotation": {
                        "roll": -0.002227789955213666,
                        "pitch": 0.4895264506340027,
                        "yaw": 89.92460632324219
                    }
                },
                "velocity": {
                    "x": -5.5489344958914444e-05,
                    "y": -2.61700897681294e-05,
                    "z": 0.0009097172878682613
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0011128096375614405,
                "transform": {
                    "location": {
                        "x": 2209.828369140625,
                        "y": 2524.287109375,
                        "z": 365.7567138671875
                    },
                    "rotation": {
                        "roll": -0.010803221724927425,
                        "pitch": -1.5404671430587769,
                        "yaw": -179.74615478515625
                    }
                },
                "velocity": {
                    "x": -0.00012479006545618176,
                    "y": 3.422114559725742e-06,
                    "z": 0.001105785253457725
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48786,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0011261122999712825,
                "transform": {
                    "location": {
                        "x": 2187.90185546875,
                        "y": 2550.05078125,
                        "z": 365.1565246582031
                    },
                    "rotation": {
                        "roll": 0.0007335222908295691,
                        "pitch": 0.08254966139793396,
                        "yaw": -89.79000854492188
                    }
                },
                "velocity": {
                    "x": 5.236681317910552e-05,
                    "y": 2.449875682941638e-05,
                    "z": 0.001124627306126058
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.177842378616333,
                "transform": {
                    "location": {
                        "x": 2185.021240234375,
                        "y": 2491.0849609375,
                        "z": 365.02569580078125
                    },
                    "rotation": {
                        "roll": -0.002288821619004011,
                        "pitch": 0.5899916887283325,
                        "yaw": 90.03534698486328
                    }
                },
                "velocity": {
                    "x": -0.0037995055317878723,
                    "y": 2.17779803276062,
                    "z": 0.013381633907556534
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48789,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.1461198329925537,
                "transform": {
                    "location": {
                        "x": 2185.0859375,
                        "y": 2461.645263671875,
                        "z": 364.82086181640625
                    },
                    "rotation": {
                        "roll": 0.00439287256449461,
                        "pitch": 0.5570974946022034,
                        "yaw": 90.463134765625
                    }
                },
                "velocity": {
                    "x": -0.00621445570141077,
                    "y": 1.1460440158843994,
                    "z": 0.011632728390395641
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48790,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.4592697322368622,
                "transform": {
                    "location": {
                        "x": 2187.8876953125,
                        "y": 2560.642333984375,
                        "z": 365.12457275390625
                    },
                    "rotation": {
                        "roll": 0.0012603496434167027,
                        "pitch": 0.1827758550643921,
                        "yaw": -89.88981628417969
                    }
                },
                "velocity": {
                    "x": 0.0008532030042260885,
                    "y": -0.4592646658420563,
                    "z": 0.001982402754947543
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48791,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.6122503280639648,
                "transform": {
                    "location": {
                        "x": 2229.470947265625,
                        "y": 2524.283935546875,
                        "z": 366.3377685546875
                    },
                    "rotation": {
                        "roll": -0.01107787899672985,
                        "pitch": -1.8641360998153687,
                        "yaw": -179.75347900390625
                    }
                },
                "velocity": {
                    "x": -1.6114591360092163,
                    "y": -0.00402899831533432,
                    "z": -0.05033951625227928
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.2144176959991455,
                "transform": {
                    "location": {
                        "x": 2185.028076171875,
                        "y": 2481.331298828125,
                        "z": 364.9461669921875
                    },
                    "rotation": {
                        "roll": 0.0038994750939309597,
                        "pitch": 0.46938422322273254,
                        "yaw": 90.40457916259766
                    }
                },
                "velocity": {
                    "x": -0.0012212467845529318,
                    "y": 1.2143776416778564,
                    "z": 0.009789342992007732
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.827434117440134e-05,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.78143310546875
                    },
                    "rotation": {
                        "roll": 0.0023106245789676905,
                        "pitch": 0.2177600860595703,
                        "yaw": -179.8237762451172
                    }
                },
                "velocity": {
                    "x": 4.7085059122764505e-06,
                    "y": 7.740571163594723e-06,
                    "z": -6.767052400391549e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0005764039233326912,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0005295848823152483,
                        "pitch": 0.21963155269622803,
                        "yaw": 179.8752899169922
                    }
                },
                "velocity": {
                    "x": 5.025999416830018e-05,
                    "y": -5.27073752891738e-05,
                    "z": -0.0005717843305319548
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0009072187240235507,
                "transform": {
                    "location": {
                        "x": 2187.8740234375,
                        "y": 2540.031494140625,
                        "z": 365.16558837890625
                    },
                    "rotation": {
                        "roll": -0.0006103514460846782,
                        "pitch": -0.02105064131319523,
                        "yaw": -91.31444549560547
                    }
                },
                "velocity": {
                    "x": 3.915813238108967e-07,
                    "y": -1.3357956959225703e-05,
                    "z": 0.0009071202948689461
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.00927734375,
                        "y": 2501.119873046875,
                        "z": 365.08502197265625
                    },
                    "rotation": {
                        "roll": 0.001683426438830793,
                        "pitch": 0.3122079372406006,
                        "yaw": 90.0914306640625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.41985559463500977,
                "transform": {
                    "location": {
                        "x": 2185.001708984375,
                        "y": 2510.308837890625,
                        "z": 365.1247863769531
                    },
                    "rotation": {
                        "roll": 6.706830754410475e-05,
                        "pitch": 0.1958010196685791,
                        "yaw": 89.9458236694336
                    }
                },
                "velocity": {
                    "x": -0.0008629515650682151,
                    "y": 0.41984930634498596,
                    "z": 0.002126979874446988
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00027805479476228356,
                "transform": {
                    "location": {
                        "x": 2200.538818359375,
                        "y": 2524.274169921875,
                        "z": 365.51519775390625
                    },
                    "rotation": {
                        "roll": -0.0294494591653347,
                        "pitch": -1.4287935495376587,
                        "yaw": -178.95423889160156
                    }
                },
                "velocity": {
                    "x": -6.503000622615218e-05,
                    "y": 4.689547131420113e-05,
                    "z": 0.0002662449551280588
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0006069708615541458,
                "transform": {
                    "location": {
                        "x": 2169.87646484375,
                        "y": 2527.327880859375,
                        "z": 364.8557434082031
                    },
                    "rotation": {
                        "roll": -0.0008850094745866954,
                        "pitch": 0.967926561832428,
                        "yaw": -0.1979064643383026
                    }
                },
                "velocity": {
                    "x": -3.874867979902774e-05,
                    "y": -3.4898007470474113e-06,
                    "z": 0.0006057227146811783
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48793,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.09476615488529205,
                "transform": {
                    "location": {
                        "x": 2187.77685546875,
                        "y": 2576.30029296875,
                        "z": 364.9901428222656
                    },
                    "rotation": {
                        "roll": 6.081926039769314e-05,
                        "pitch": 0.3645613193511963,
                        "yaw": -89.93965911865234
                    }
                },
                "velocity": {
                    "x": 0.00011775820166803896,
                    "y": 0.0006272168247960508,
                    "z": 0.09476400166749954
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.4373543858528137,
        "expert_target_speed": 1.497977183309854,
        "target_point": [
            28.44162925169632,
            -0.14087946229204262
        ],
        "target_point_next": [
            28.44162925169632,
            -0.14087946229204262
        ]
    },
    "640": {
        "acceleration": [
            -4.52403450012207,
            0.0808154046535492,
            -0.09978316724300385
        ],
        "angular_velocity": [
            0.06984782218933105,
            0.7377040982246399,
            -0.06742008775472641
        ],
        "forward_vector": [
            -0.9997808337211609,
            0.013788371346890926,
            -0.015751900151371956
        ],
        "right_vector": [
            -0.013785957358777523,
            -0.9999049305915833,
            -0.0002618385769892484
        ],
        "location": [
            2176.412109375,
            2523.997802734375,
            364.9846496582031
        ],
        "rotation": [
            0.015004108659923077,
            -0.9025548100471497,
            179.20986938476562
        ],
        "velocity": [
            -1.2136331796646118,
            0.021930396556854248,
            -0.02440168894827366
        ],
        "speed": 1.2138313050321188,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 36.225074768066406,
        "front_vehicle_info": {
            "id": 48767,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2140.19091796875,
                2524.48779296875,
                364.7814636230469
            ],
            "velocity": [
                2.146102360711666e-06,
                1.9693463400471956e-05,
                -0.00024311128072440624
            ],
            "speed_kmh": 0.0008781014227335943,
            "color": "61,86,143"
        },
        "other_vehicles": [
            {
                "id": 48792,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.823694109916687,
                "transform": {
                    "location": {
                        "x": 2144.9296875,
                        "y": 2527.353759765625,
                        "z": 364.7711181640625
                    },
                    "rotation": {
                        "roll": -0.0020446779672056437,
                        "pitch": -0.4063347578048706,
                        "yaw": 0.1279081404209137
                    }
                },
                "velocity": {
                    "x": 1.8236756324768066,
                    "y": 0.0036705692764371634,
                    "z": -0.007345142308622599
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48788,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.641311764717102,
                "transform": {
                    "location": {
                        "x": 2159.45458984375,
                        "y": 2527.350341796875,
                        "z": 364.74627685546875
                    },
                    "rotation": {
                        "roll": -0.00048828122089616954,
                        "pitch": 0.306607186794281,
                        "yaw": -0.1234741136431694
                    }
                },
                "velocity": {
                    "x": 1.6412923336029053,
                    "y": -0.0035183036234229803,
                    "z": 0.007180137559771538
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48787,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00044639388215728104,
                "transform": {
                    "location": {
                        "x": 2219.137451171875,
                        "y": 2524.2744140625,
                        "z": 366.0173034667969
                    },
                    "rotation": {
                        "roll": -0.01025390625,
                        "pitch": -1.6846250295639038,
                        "yaw": -179.7673797607422
                    }
                },
                "velocity": {
                    "x": 8.88568174559623e-05,
                    "y": -0.00019673985661938787,
                    "z": 0.00039072419167496264
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48785,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0001514083269285038,
                "transform": {
                    "location": {
                        "x": 2185.0390625,
                        "y": 2471.828369140625,
                        "z": 364.8816833496094
                    },
                    "rotation": {
                        "roll": -0.002227789955213666,
                        "pitch": 0.4895264506340027,
                        "yaw": 89.92460632324219
                    }
                },
                "velocity": {
                    "x": 6.22398656560108e-05,
                    "y": -5.0316230044700205e-05,
                    "z": -0.0001285260950680822
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48784,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0005270976107567549,
                "transform": {
                    "location": {
                        "x": 2209.828369140625,
                        "y": 2524.287109375,
                        "z": 365.7567138671875
                    },
                    "rotation": {
                        "roll": -0.010803221724927425,
                        "pitch": -1.5404671430587769,
                        "yaw": -179.74615478515625
                    }
                },
                "velocity": {
                    "x": -7.738381100352854e-05,
                    "y": 4.78986075904686e-05,
                    "z": 0.0005191814270801842
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48786,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0013948577689006925,
                "transform": {
                    "location": {
                        "x": 2187.90185546875,
                        "y": 2550.05078125,
                        "z": 365.1565246582031
                    },
                    "rotation": {
                        "roll": 0.0007335222908295691,
                        "pitch": 0.08254966139793396,
                        "yaw": -89.79000854492188
                    }
                },
                "velocity": {
                    "x": -6.024351478117751e-06,
                    "y": 2.324285014765337e-05,
                    "z": 0.0013946510152891278
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48772,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.017226120457053185,
                "transform": {
                    "location": {
                        "x": 2185.021484375,
                        "y": 2491.54248046875,
                        "z": 365.0321044921875
                    },
                    "rotation": {
                        "roll": 0.0015028135385364294,
                        "pitch": 0.15029147267341614,
                        "yaw": 90.09820556640625
                    }
                },
                "velocity": {
                    "x": 0.0006262987735681236,
                    "y": 0.017212828621268272,
                    "z": 0.00025589315919205546
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 48789,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0011551995994523168,
                "transform": {
                    "location": {
                        "x": 2185.085693359375,
                        "y": 2461.665771484375,
                        "z": 364.8218688964844
                    },
                    "rotation": {
                        "roll": 0.004555992782115936,
                        "pitch": 0.46491730213165283,
                        "yaw": 90.43771362304688
                    }
                },
                "velocity": {
                    "x": -8.648143557365984e-05,
                    "y": -0.0007579837110824883,
                    "z": 0.0008674490381963551
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 48790,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.2151975631713867,
                "transform": {
                    "location": {
                        "x": 2187.8876953125,
                        "y": 2560.434326171875,
                        "z": 365.1251525878906
                    },
                    "rotation": {
                        "roll": 0.0017031565075740218,
                        "pitch": 0.21079328656196594,
                        "yaw": -89.89281463623047
                    }
                },
                "velocity": {
                    "x": 0.0029707797802984715,
                    "y": -1.2151896953582764,
                    "z": 0.0032136249355971813
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48791,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7075636386871338,
                "transform": {
                    "location": {
                        "x": 2229.0009765625,
                        "y": 2524.282958984375,
                        "z": 366.32269287109375
                    },
                    "rotation": {
                        "roll": -0.01129150390625,
                        "pitch": -1.8165228366851807,
                        "yaw": -179.76712036132812
                    }
                },
                "velocity": {
                    "x": -1.7067315578460693,
                    "y": -0.004333534277975559,
                    "z": -0.053123120218515396
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48780,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.5106711387634277,
                "transform": {
                    "location": {
                        "x": 2185.02685546875,
                        "y": 2481.64697265625,
                        "z": 364.9485778808594
                    },
                    "rotation": {
                        "roll": 0.0014980979030951858,
                        "pitch": 0.44642797112464905,
                        "yaw": 90.26607513427734
                    }
                },
                "velocity": {
                    "x": 0.002072421368211508,
                    "y": 1.5106375217437744,
                    "z": 0.009853925555944443
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0002439170639263466,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.0028214321937412024,
                        "pitch": 0.21771909296512604,
                        "yaw": -179.82376098632812
                    }
                },
                "velocity": {
                    "x": 2.146102360711666e-06,
                    "y": 1.9693463400471956e-05,
                    "z": -0.00024311128072440624
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00016117104678414762,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0009886757470667362,
                        "pitch": 0.21966570615768433,
                        "yaw": 179.87535095214844
                    }
                },
                "velocity": {
                    "x": 1.3158731235307641e-05,
                    "y": 1.8036171240964904e-05,
                    "z": -0.0001596171932760626
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48782,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.926425314508379e-05,
                "transform": {
                    "location": {
                        "x": 2187.8740234375,
                        "y": 2540.031494140625,
                        "z": 365.16558837890625
                    },
                    "rotation": {
                        "roll": -0.0006103514460846782,
                        "pitch": -0.02105064131319523,
                        "yaw": -91.31444549560547
                    }
                },
                "velocity": {
                    "x": -9.66870447882684e-06,
                    "y": -7.004608164606907e-07,
                    "z": -7.866922533139586e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48763,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.00927734375,
                        "y": 2501.119873046875,
                        "z": 365.08502197265625
                    },
                    "rotation": {
                        "roll": 0.001683426438830793,
                        "pitch": 0.3122079372406006,
                        "yaw": 90.0914306640625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48762,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.4414353370666504,
                "transform": {
                    "location": {
                        "x": 2185.00146484375,
                        "y": 2510.408447265625,
                        "z": 365.1251220703125
                    },
                    "rotation": {
                        "roll": -6.1031823861412704e-05,
                        "pitch": 0.19466720521450043,
                        "yaw": 89.93541717529297
                    }
                },
                "velocity": {
                    "x": -0.001401032437570393,
                    "y": 0.44142961502075195,
                    "z": 0.0017624663887545466
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 48781,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.965169475530274e-05,
                "transform": {
                    "location": {
                        "x": 2200.538818359375,
                        "y": 2524.274169921875,
                        "z": 365.51519775390625
                    },
                    "rotation": {
                        "roll": -0.0294494591653347,
                        "pitch": -1.4287935495376587,
                        "yaw": -178.95423889160156
                    }
                },
                "velocity": {
                    "x": -5.551501817535609e-05,
                    "y": -2.0846229745075107e-05,
                    "z": 6.468542778748088e-06
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0014120585983619094,
                "transform": {
                    "location": {
                        "x": 2169.87646484375,
                        "y": 2527.327880859375,
                        "z": 364.8557434082031
                    },
                    "rotation": {
                        "roll": -0.0008850094745866954,
                        "pitch": 0.967926561832428,
                        "yaw": -0.1979064643383026
                    }
                },
                "velocity": {
                    "x": -5.8511493989499286e-05,
                    "y": -5.655782388203079e-06,
                    "z": 0.0014108344912528992
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48793,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.0045400857925415,
                "transform": {
                    "location": {
                        "x": 2187.77783203125,
                        "y": 2576.22900390625,
                        "z": 365.0232849121094
                    },
                    "rotation": {
                        "roll": -0.011108373291790485,
                        "pitch": 0.5914055705070496,
                        "yaw": -89.89020538330078
                    }
                },
                "velocity": {
                    "x": 0.01668122224509716,
                    "y": -0.9978104829788208,
                    "z": 0.11487716436386108
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.43084660172462463,
        "expert_target_speed": 2.386191473808771,
        "target_point": [
            28.24775727655379,
            -0.13831760338929766
        ],
        "target_point_next": [
            28.24775727655379,
            -0.13831760338929766
        ]
    },
    "645": {
        "acceleration": [
            -5.77641487121582,
            0.131993368268013,
            -0.1240222156047821
        ],
        "angular_velocity": [
            0.07333715260028839,
            0.7080404758453369,
            0.1883927285671234
        ],
        "forward_vector": [
            -0.9998007416725159,
            0.015016512013971806,
            -0.013151861727237701
        ],
        "right_vector": [
            -0.015012810938060284,
            -0.999887228012085,
            -0.00038010708522051573
        ],
        "location": [
            2175.971923828125,
            2524.005615234375,
            364.975341796875
        ],
        "rotation": [
            0.02178041636943817,
            -0.7535678744316101,
            179.13951110839844
        ],
        "velocity": [
            -2.3280365467071533,
            0.044486138969659805,
            -0.047161445021629333
        ],
        "speed": 2.328461547753064,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 35.78478240966797,
        "front_vehicle_info": {
            "id": 48767,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2140.19091796875,
                2524.48779296875,
                364.7814636230469
            ],
            "velocity": [
                3.8530301935679745e-06,
                2.005732494581025e-05,
                -0.0005451529868878424
            ],
            "speed_kmh": 0.001963927600307491,
            "color": "61,86,143"
        },
        "other_vehicles": [
            {
                "id": 48792,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.8829329609870911,
                "transform": {
                    "location": {
                        "x": 2145.066162109375,
                        "y": 2527.354248046875,
                        "z": 364.7705383300781
                    },
                    "rotation": {
                        "roll": -9.155272709904239e-05,
                        "pitch": -0.38561880588531494,
                        "yaw": 0.05750229209661484
                    }
                },
                "velocity": {
                    "x": 0.8829290866851807,
                    "y": 0.0012497494462877512,
                    "z": -0.0023087405133992434
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48788,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.162380188703537,
                "transform": {
                    "location": {
                        "x": 2159.851318359375,
                        "y": 2527.349609375,
                        "z": 364.74853515625
                    },
                    "rotation": {
                        "roll": -0.0008544922457076609,
                        "pitch": 0.27190297842025757,
                        "yaw": -0.221435546875
                    }
                },
                "velocity": {
                    "x": 0.1623692810535431,
                    "y": -0.0012982568005099893,
                    "z": 0.0013634872157126665
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0005455354694277048,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.0028214321937412024,
                        "pitch": 0.21771909296512604,
                        "yaw": -179.82376098632812
                    }
                },
                "velocity": {
                    "x": 3.8530301935679745e-06,
                    "y": 2.005732494581025e-05,
                    "z": -0.0005451529868878424
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0013543585082516074,
                "transform": {
                    "location": {
                        "x": 2130.133544921875,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0009886757470667362,
                        "pitch": 0.21966570615768433,
                        "yaw": 179.87535095214844
                    }
                },
                "velocity": {
                    "x": 1.4025866221345495e-05,
                    "y": 3.3677246392471716e-05,
                    "z": -0.001353867119178176
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0016467765672132373,
                "transform": {
                    "location": {
                        "x": 2169.87646484375,
                        "y": 2527.327880859375,
                        "z": 364.8557434082031
                    },
                    "rotation": {
                        "roll": -0.0008850094745866954,
                        "pitch": 0.967926561832428,
                        "yaw": -0.1979064643383026
                    }
                },
                "velocity": {
                    "x": -6.326779839582741e-05,
                    "y": 1.3792659956379794e-05,
                    "z": 0.0016455029835924506
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.4284204840660095,
        "expert_target_speed": 3.4867555356263904,
        "target_point": [
            27.80765258529547,
            -0.10243216631908791
        ],
        "target_point_next": [
            27.80765258529547,
            -0.10243216631908791
        ]
    },
    "650": {
        "acceleration": [
            -6.713051795959473,
            0.15397533774375916,
            -0.15362873673439026
        ],
        "angular_velocity": [
            0.05912584811449051,
            0.7811694145202637,
            -0.4450865685939789
        ],
        "forward_vector": [
            -0.9998117685317993,
            0.016664491966366768,
            -0.00993450079113245
        ],
        "right_vector": [
            -0.016660600900650024,
            -0.9998610615730286,
            -0.0004743893805425614
        ],
        "location": [
            2175.196533203125,
            2524.020263671875,
            364.9591979980469
        ],
        "rotation": [
            0.027181852608919144,
            -0.5692142844200134,
            179.04510498046875
        ],
        "velocity": [
            -3.880568265914917,
            0.07584219425916672,
            -0.07725992798805237
        ],
        "speed": 3.881309328674533,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 35.00918960571289,
        "front_vehicle_info": {
            "id": 48767,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2140.19091796875,
                2524.48779296875,
                364.7814636230469
            ],
            "velocity": [
                2.905055907831411e-06,
                4.0809409256326035e-06,
                -0.0002612805110402405
            ],
            "speed_kmh": 0.0009407826961952347,
            "color": "61,86,143"
        },
        "other_vehicles": [
            {
                "id": 48792,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.243804454803467,
                "transform": {
                    "location": {
                        "x": 2145.45751953125,
                        "y": 2527.354736328125,
                        "z": 364.7692565917969
                    },
                    "rotation": {
                        "roll": 6.457326435338473e-06,
                        "pitch": -0.03881596401333809,
                        "yaw": 0.014825163409113884
                    }
                },
                "velocity": {
                    "x": 2.2437894344329834,
                    "y": 0.0022418792359530926,
                    "z": -0.007902202196419239
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48788,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0012524279300123453,
                "transform": {
                    "location": {
                        "x": 2159.851318359375,
                        "y": 2527.349609375,
                        "z": 364.74853515625
                    },
                    "rotation": {
                        "roll": -0.0029296877328306437,
                        "pitch": 0.27234694361686707,
                        "yaw": -0.2213134914636612
                    }
                },
                "velocity": {
                    "x": -4.2708663386292756e-05,
                    "y": 9.234852041117847e-05,
                    "z": 0.0012482882011681795
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00026132853236049414,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.003009793348610401,
                        "pitch": 0.2176986038684845,
                        "yaw": -179.82374572753906
                    }
                },
                "velocity": {
                    "x": 2.905055907831411e-06,
                    "y": 4.0809409256326035e-06,
                    "z": -0.0002612805110402405
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.02239726297557354,
                "transform": {
                    "location": {
                        "x": 2130.135986328125,
                        "y": 2524.565185546875,
                        "z": 364.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0008367362897843122,
                        "pitch": 0.22558747231960297,
                        "yaw": 179.8780517578125
                    }
                },
                "velocity": {
                    "x": -0.02239486202597618,
                    "y": -0.0001027292018989101,
                    "z": -0.0003114891005679965
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0011602663435041904,
                "transform": {
                    "location": {
                        "x": 2169.87646484375,
                        "y": 2527.327880859375,
                        "z": 364.8557434082031
                    },
                    "rotation": {
                        "roll": -0.0008850094745866954,
                        "pitch": 0.967926561832428,
                        "yaw": -0.1979064643383026
                    }
                },
                "velocity": {
                    "x": -4.9533991841599345e-05,
                    "y": 1.9187114958185703e-05,
                    "z": 0.0011590496869757771
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.405611127614975,
        "expert_target_speed": 4.987778243729052,
        "target_point": [
            27.032256566714032,
            -0.05488204809782604
        ],
        "target_point_next": [
            27.032256566714032,
            -0.05488204809782604
        ]
    },
    "655": {
        "acceleration": [
            -5.303773880004883,
            -0.06859555840492249,
            -0.15429824590682983
        ],
        "angular_velocity": [
            -0.1509808748960495,
            -0.09566967934370041,
            0.8346196413040161
        ],
        "forward_vector": [
            -0.9998328685760498,
            0.01624351367354393,
            -0.008386154659092426
        ],
        "right_vector": [
            -0.016244564205408096,
            -0.9998680353164673,
            5.698963286704384e-05
        ],
        "location": [
            2174.020751953125,
            2524.039794921875,
            364.93572998046875
        ],
        "rotation": [
            -0.0032653803937137127,
            -0.48049694299697876,
            179.06924438476562
        ],
        "velocity": [
            -5.400182247161865,
            0.0737159475684166,
            -0.10522928833961487
        ],
        "speed": 5.400685358682551,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 33.833152770996094,
        "front_vehicle_info": {
            "id": 48767,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2140.19091796875,
                2524.48779296875,
                364.7814636230469
            ],
            "velocity": [
                3.315620006105746e-06,
                -7.2420984906784724e-06,
                -0.0005304177175275981
            ],
            "speed_kmh": 0.001909719062391936,
            "color": "61,86,143"
        },
        "other_vehicles": [
            {
                "id": 48792,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.7051492929458618,
                "transform": {
                    "location": {
                        "x": 2145.99365234375,
                        "y": 2527.355712890625,
                        "z": 364.76715087890625
                    },
                    "rotation": {
                        "roll": -0.000213623046875,
                        "pitch": -0.36355727910995483,
                        "yaw": -0.03009033016860485
                    }
                },
                "velocity": {
                    "x": 0.7051308155059814,
                    "y": 0.0036189001984894276,
                    "z": -0.003601188538596034
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48788,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.000136887829285115,
                "transform": {
                    "location": {
                        "x": 2159.851318359375,
                        "y": 2527.349609375,
                        "z": 364.74847412109375
                    },
                    "rotation": {
                        "roll": -0.0030822751577943563,
                        "pitch": 0.28524234890937805,
                        "yaw": -0.221282958984375
                    }
                },
                "velocity": {
                    "x": -1.6236454030149616e-05,
                    "y": -6.20775017523556e-06,
                    "z": -0.0001357796718366444
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0005304774967953563,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.003009793348610401,
                        "pitch": 0.2176986038684845,
                        "yaw": -179.82374572753906
                    }
                },
                "velocity": {
                    "x": 3.315620006105746e-06,
                    "y": -7.2420984906784724e-06,
                    "z": -0.0005304177175275981
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.03117835521698,
                "transform": {
                    "location": {
                        "x": 2129.997314453125,
                        "y": 2524.56396484375,
                        "z": 364.82806396484375
                    },
                    "rotation": {
                        "roll": -0.004089354537427425,
                        "pitch": 0.37152811884880066,
                        "yaw": 179.90919494628906
                    }
                },
                "velocity": {
                    "x": -1.0311466455459595,
                    "y": -0.007603988517075777,
                    "z": 0.0027559564914554358
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.03773759305477142,
                "transform": {
                    "location": {
                        "x": 2169.878662109375,
                        "y": 2527.328125,
                        "z": 364.85577392578125
                    },
                    "rotation": {
                        "roll": -0.0011901856632903218,
                        "pitch": 0.9733087420463562,
                        "yaw": -0.2027282565832138
                    }
                },
                "velocity": {
                    "x": 0.03771861642599106,
                    "y": 0.0010452698916196823,
                    "z": 0.0005823993706144392
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.3855384588241577,
        "expert_target_speed": 6.387027968859602,
        "target_point": [
            25.85628765102729,
            -0.06584713639514178
        ],
        "target_point_next": [
            25.85628765102729,
            -0.06584713639514178
        ]
    },
    "660": {
        "acceleration": [
            -7.393350601196289,
            -0.05186229944229126,
            -0.11897623538970947
        ],
        "angular_velocity": [
            -0.020624445751309395,
            1.2756054401397705,
            1.0207370519638062
        ],
        "forward_vector": [
            -0.999830961227417,
            0.012570500373840332,
            -0.013415410183370113
        ],
        "right_vector": [
            -0.012576318345963955,
            -0.9999208450317383,
            0.00034937524469569325
        ],
        "location": [
            2172.664306640625,
            2524.05517578125,
            364.91107177734375
        ],
        "rotation": [
            -0.02001952938735485,
            -0.7686694264411926,
            179.27967834472656
        ],
        "velocity": [
            -5.7867913246154785,
            0.05071168392896652,
            -0.10521958023309708
        ],
        "speed": 5.7870135224942985,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 32.47652816772461,
        "front_vehicle_info": {
            "id": 48767,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2140.19091796875,
                2524.48779296875,
                364.7814636230469
            ],
            "velocity": [
                6.969198238948593e-06,
                7.916644790384453e-06,
                -0.00022099226771388203
            ],
            "speed_kmh": 0.000796477731578786,
            "color": "61,86,143"
        },
        "other_vehicles": [
            {
                "id": 48792,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.8551422357559204,
                "transform": {
                    "location": {
                        "x": 2146.0703125,
                        "y": 2527.355712890625,
                        "z": 364.7668151855469
                    },
                    "rotation": {
                        "roll": -0.0008850097074173391,
                        "pitch": -0.2741706073284149,
                        "yaw": -0.02426147274672985
                    }
                },
                "velocity": {
                    "x": 0.8551350831985474,
                    "y": 0.0012433829251676798,
                    "z": -0.0032701492309570312
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48788,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0005247807130217552,
                "transform": {
                    "location": {
                        "x": 2159.851318359375,
                        "y": 2527.349609375,
                        "z": 364.7484436035156
                    },
                    "rotation": {
                        "roll": -0.002197265625,
                        "pitch": 0.2876807153224945,
                        "yaw": -0.221282958984375
                    }
                },
                "velocity": {
                    "x": -1.5322268154704943e-05,
                    "y": -0.00013324986502993852,
                    "z": 0.0005073504871688783
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00022124381212051958,
                "transform": {
                    "location": {
                        "x": 2140.19091796875,
                        "y": 2524.48779296875,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": 0.003009793348610401,
                        "pitch": 0.2176986038684845,
                        "yaw": -179.82374572753906
                    }
                },
                "velocity": {
                    "x": 6.969198238948593e-06,
                    "y": 7.916644790384453e-06,
                    "z": -0.00022099226771388203
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.2160935401916504,
                "transform": {
                    "location": {
                        "x": 2129.580810546875,
                        "y": 2524.560546875,
                        "z": 364.82965087890625
                    },
                    "rotation": {
                        "roll": -0.005645751953125,
                        "pitch": 0.4422478973865509,
                        "yaw": -179.9428253173828
                    }
                },
                "velocity": {
                    "x": -2.2160065174102783,
                    "y": -0.018194258213043213,
                    "z": 0.007405061740428209
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.8648808598518372,
                "transform": {
                    "location": {
                        "x": 2169.98095703125,
                        "y": 2527.32763671875,
                        "z": 364.857177734375
                    },
                    "rotation": {
                        "roll": -0.0010986330453306437,
                        "pitch": 1.011933445930481,
                        "yaw": -0.1903381198644638
                    }
                },
                "velocity": {
                    "x": 0.8647504448890686,
                    "y": -0.0021262310910969973,
                    "z": 0.014866952784359455
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.3828680217266083,
        "expert_target_speed": 6.7217226304263935,
        "target_point": [
            24.49933996621221,
            -0.16247914123952423
        ],
        "target_point_next": [
            24.49933996621221,
            -0.16247914123952423
        ]
    },
    "665": {
        "acceleration": [
            -1.4379119873046875,
            0.061263442039489746,
            -0.03284096717834473
        ],
        "angular_velocity": [
            0.10209855437278748,
            -0.2292066216468811,
            -0.21674613654613495
        ],
        "forward_vector": [
            -0.9998766779899597,
            0.01139230839908123,
            -0.010811117477715015
        ],
        "right_vector": [
            -0.011390629224479198,
            -0.9999350905418396,
            -0.0002168907958548516
        ],
        "location": [
            2171.071533203125,
            2524.072509765625,
            364.8817138671875
        ],
        "rotation": [
            0.012427653186023235,
            -0.6194434762001038,
            179.3472137451172
        ],
        "velocity": [
            -6.633995056152344,
            0.0790463238954544,
            -0.11965524405241013
        ],
        "speed": 6.634465971453552,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 30.887231826782227,
        "front_vehicle_info": {
            "id": 48767,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2140.187255859375,
                2524.48779296875,
                364.78143310546875
            ],
            "velocity": [
                -0.07992575317621231,
                -0.0006097421864978969,
                3.944397030863911e-05
            ],
            "speed_kmh": 0.287741119295465,
            "color": "61,86,143"
        },
        "other_vehicles": [
            {
                "id": 48792,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.033200740814209,
                "transform": {
                    "location": {
                        "x": 2146.430908203125,
                        "y": 2527.3564453125,
                        "z": 364.7655334472656
                    },
                    "rotation": {
                        "roll": -0.0014648436335846782,
                        "pitch": -0.035981435328722,
                        "yaw": 0.033465947955846786
                    }
                },
                "velocity": {
                    "x": 2.0331857204437256,
                    "y": 0.002211193786934018,
                    "z": -0.0074620721861720085
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48788,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.988475747173652e-05,
                "transform": {
                    "location": {
                        "x": 2159.851318359375,
                        "y": 2527.349609375,
                        "z": 364.7484436035156
                    },
                    "rotation": {
                        "roll": -0.002197265625,
                        "pitch": 0.2876807153224945,
                        "yaw": -0.221282958984375
                    }
                },
                "velocity": {
                    "x": -1.3195723113312852e-05,
                    "y": 3.855818249576259e-06,
                    "z": 8.88272188603878e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.07992808520793915,
                "transform": {
                    "location": {
                        "x": 2140.187255859375,
                        "y": 2524.48779296875,
                        "z": 364.78143310546875
                    },
                    "rotation": {
                        "roll": 0.0006650789873674512,
                        "pitch": 0.21935833990573883,
                        "yaw": -179.825927734375
                    }
                },
                "velocity": {
                    "x": -0.07992575317621231,
                    "y": -0.0006097421864978969,
                    "z": 3.944397030863911e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.7910406589508057,
                "transform": {
                    "location": {
                        "x": 2128.829833984375,
                        "y": 2524.553955078125,
                        "z": 364.8324890136719
                    },
                    "rotation": {
                        "roll": -0.006622313987463713,
                        "pitch": 0.5244014263153076,
                        "yaw": -179.75570678710938
                    }
                },
                "velocity": {
                    "x": -3.79085373878479,
                    "y": -0.03477588668465614,
                    "z": 0.014435138553380966
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.1185588836669922,
                "transform": {
                    "location": {
                        "x": 2170.26220703125,
                        "y": 2527.326416015625,
                        "z": 364.86236572265625
                    },
                    "rotation": {
                        "roll": -0.0001220701597048901,
                        "pitch": 0.9967635869979858,
                        "yaw": -0.1300353705883026
                    }
                },
                "velocity": {
                    "x": 1.1184061765670776,
                    "y": 0.0016426366055384278,
                    "z": 0.018412189558148384
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.37036851048469543,
        "expert_target_speed": 7.409455058767027,
        "target_point": [
            22.90626387625407,
            -0.19217071797179242
        ],
        "target_point_next": [
            22.90626387625407,
            -0.19217071797179242
        ]
    },
    "670": {
        "acceleration": [
            -1.3000011444091797,
            0.31415969133377075,
            0.007994920015335083
        ],
        "angular_velocity": [
            0.31920647621154785,
            -0.4847368001937866,
            -1.2999119758605957
        ],
        "forward_vector": [
            -0.9998183846473694,
            0.014015866443514824,
            -0.012913225218653679
        ],
        "right_vector": [
            -0.014006626792252064,
            -0.9999015927314758,
            -0.0008057508384808898
        ],
        "location": [
            2169.370361328125,
            2524.095947265625,
            364.8527526855469
        ],
        "rotation": [
            0.04616997390985489,
            -0.7398938536643982,
            179.1968536376953
        ],
        "velocity": [
            -6.947575569152832,
            0.12171614170074463,
            -0.11509381234645844
        ],
        "speed": 6.948641673610736,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 29.239770889282227,
        "front_vehicle_info": {
            "id": 48767,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2140.13330078125,
                2524.487548828125,
                364.7815856933594
            ],
            "velocity": [
                -0.4385487735271454,
                -0.0010671638883650303,
                0.0015506267081946135
            ],
            "speed_kmh": 1.5787901278421228,
            "color": "61,86,143"
        },
        "other_vehicles": [
            {
                "id": 48792,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.8314172029495239,
                "transform": {
                    "location": {
                        "x": 2146.942138671875,
                        "y": 2527.357177734375,
                        "z": 364.7635498046875
                    },
                    "rotation": {
                        "roll": 0.00144773640204221,
                        "pitch": -0.3118595778942108,
                        "yaw": -0.1103210300207138
                    }
                },
                "velocity": {
                    "x": 0.8313924074172974,
                    "y": 0.004590811673551798,
                    "z": -0.004486456047743559
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48788,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.2559383511543274,
                "transform": {
                    "location": {
                        "x": 2159.866455078125,
                        "y": 2527.349609375,
                        "z": 364.74847412109375
                    },
                    "rotation": {
                        "roll": -0.000762939453125,
                        "pitch": 0.29449042677879333,
                        "yaw": -0.2178954929113388
                    }
                },
                "velocity": {
                    "x": 0.2559281587600708,
                    "y": -0.0001916276232805103,
                    "z": 0.002275600330904126
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.4385527968406677,
                "transform": {
                    "location": {
                        "x": 2140.13330078125,
                        "y": 2524.487548828125,
                        "z": 364.7815856933594
                    },
                    "rotation": {
                        "roll": 0.0014665923081338406,
                        "pitch": 0.22902989387512207,
                        "yaw": -179.85296630859375
                    }
                },
                "velocity": {
                    "x": -0.4385487735271454,
                    "y": -0.0010671638883650303,
                    "z": 0.0015506267081946135
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.237326145172119,
                "transform": {
                    "location": {
                        "x": 2127.691162109375,
                        "y": 2524.54296875,
                        "z": 364.8370666503906
                    },
                    "rotation": {
                        "roll": -0.004882812034338713,
                        "pitch": 0.5281853079795837,
                        "yaw": -179.5655059814453
                    }
                },
                "velocity": {
                    "x": -5.236987590789795,
                    "y": -0.05465463921427727,
                    "z": 0.02365846559405327
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.972158670425415,
                "transform": {
                    "location": {
                        "x": 2170.647705078125,
                        "y": 2527.327392578125,
                        "z": 364.8686218261719
                    },
                    "rotation": {
                        "roll": -0.0019226070726290345,
                        "pitch": 1.0169810056686401,
                        "yaw": -0.2863768935203552
                    }
                },
                "velocity": {
                    "x": 1.9718395471572876,
                    "y": -0.01198163628578186,
                    "z": 0.03339647129178047
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.3239685297012329,
        "expert_target_speed": 7.6506717518820135,
        "target_point": [
            21.205356006762052,
            -0.13247279621510238
        ],
        "target_point_next": [
            21.205356006762052,
            -0.13247279621510238
        ]
    },
    "675": {
        "acceleration": [
            -0.4786491394042969,
            0.07955431938171387,
            0.07285147905349731
        ],
        "angular_velocity": [
            -0.06692459434270859,
            0.556309163570404,
            -1.226509690284729
        ],
        "forward_vector": [
            -0.999703049659729,
            0.020500456914305687,
            -0.013175224885344505
        ],
        "right_vector": [
            -0.02048673667013645,
            -0.9997894167900085,
            -0.0011754451552405953
        ],
        "location": [
            2167.607177734375,
            2524.132080078125,
            364.8254089355469
        ],
        "rotation": [
            0.06735390424728394,
            -0.7549065947532654,
            178.82522583007812
        ],
        "velocity": [
            -7.145057678222656,
            0.16735555231571198,
            -0.09655550867319107
        ],
        "speed": 7.147017357333017,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 27.648056030273438,
        "front_vehicle_info": {
            "id": 48767,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2139.96142578125,
                2524.486328125,
                364.7822570800781
            ],
            "velocity": [
                -0.9507073760032654,
                -0.0031408381182700396,
                0.0029743004124611616
            ],
            "speed_kmh": 3.422581980090177,
            "color": "61,86,143"
        },
        "other_vehicles": [
            {
                "id": 48792,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.8532063364982605,
                "transform": {
                    "location": {
                        "x": 2147.024169921875,
                        "y": 2527.357177734375,
                        "z": 364.7631530761719
                    },
                    "rotation": {
                        "roll": 0.001084584859199822,
                        "pitch": -0.26959437131881714,
                        "yaw": -0.157958984375
                    }
                },
                "velocity": {
                    "x": 0.8532015085220337,
                    "y": -0.0010081209475174546,
                    "z": -0.002672433853149414
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48788,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.8888106942176819,
                "transform": {
                    "location": {
                        "x": 2160.008056640625,
                        "y": 2527.348876953125,
                        "z": 364.7491760253906
                    },
                    "rotation": {
                        "roll": -0.0008239744347520173,
                        "pitch": 0.3041209876537323,
                        "yaw": -0.1558838039636612
                    }
                },
                "velocity": {
                    "x": 0.8888043761253357,
                    "y": -0.001634612213820219,
                    "z": 0.0029183290898799896
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.9507172107696533,
                "transform": {
                    "location": {
                        "x": 2139.96142578125,
                        "y": 2524.486328125,
                        "z": 364.7822570800781
                    },
                    "rotation": {
                        "roll": 0.0010691274655982852,
                        "pitch": 0.23446671664714813,
                        "yaw": -179.92347717285156
                    }
                },
                "velocity": {
                    "x": -0.9507073760032654,
                    "y": -0.0031408381182700396,
                    "z": 0.0029743004124611616
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.552404880523682,
                "transform": {
                    "location": {
                        "x": 2126.334716796875,
                        "y": 2524.532958984375,
                        "z": 364.8428955078125
                    },
                    "rotation": {
                        "roll": 0.012335922569036484,
                        "pitch": 0.37831732630729675,
                        "yaw": -179.60269165039062
                    }
                },
                "velocity": {
                    "x": -5.552253723144531,
                    "y": -0.03164440765976906,
                    "z": 0.026002950966358185
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.1161162853240967,
                "transform": {
                    "location": {
                        "x": 2171.300048828125,
                        "y": 2527.3251953125,
                        "z": 364.8797912597656
                    },
                    "rotation": {
                        "roll": -0.0013427730882540345,
                        "pitch": 1.0555715560913086,
                        "yaw": -0.2338561862707138
                    }
                },
                "velocity": {
                    "x": 3.1155378818511963,
                    "y": -0.009954433888196945,
                    "z": 0.059207428246736526
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.2586861252784729,
        "expert_target_speed": 7.794170625615811,
        "target_point": [
            19.442215394736714,
            0.0050520835756294735
        ],
        "target_point_next": [
            19.442215394736714,
            0.0050520835756294735
        ]
    },
    "680": {
        "acceleration": [
            -1.32568359375,
            0.10207027196884155,
            0.0033086538314819336
        ],
        "angular_velocity": [
            -0.003949623554944992,
            0.9504470229148865,
            -0.8679639101028442
        ],
        "forward_vector": [
            -0.9996380805969238,
            0.02513878047466278,
            -0.009571763686835766
        ],
        "right_vector": [
            -0.025129318237304688,
            -0.9996835589408875,
            -0.0011076825903728604
        ],
        "location": [
            2165.788818359375,
            2524.177490234375,
            364.8006896972656
        ],
        "rotation": [
            0.06346845626831055,
            -0.5484300255775452,
            178.55943298339844
        ],
        "velocity": [
            -7.386241912841797,
            0.20032334327697754,
            -0.09634730219841003
        ],
        "speed": 7.388957912783271,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.1346378326416,
        "front_vehicle_info": {
            "id": 48767,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2139.656005859375,
                2524.48583984375,
                364.7832336425781
            ],
            "velocity": [
                -1.4616352319717407,
                -0.005243347957730293,
                0.005664071999490261
            ],
            "speed_kmh": 5.261960200317612,
            "color": "61,86,143"
        },
        "other_vehicles": [
            {
                "id": 48792,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.0149080753326416,
                "transform": {
                    "location": {
                        "x": 2147.381591796875,
                        "y": 2527.357421875,
                        "z": 364.7619323730469
                    },
                    "rotation": {
                        "roll": -0.0020446772687137127,
                        "pitch": -0.032655131071805954,
                        "yaw": -0.09414670616388321
                    }
                },
                "velocity": {
                    "x": 2.0148961544036865,
                    "y": 0.001087346114218235,
                    "z": -0.0068675801157951355
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48788,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.6424709558486938,
                "transform": {
                    "location": {
                        "x": 2160.331298828125,
                        "y": 2527.34814453125,
                        "z": 364.750732421875
                    },
                    "rotation": {
                        "roll": -0.0014038084773346782,
                        "pitch": 0.3075019419193268,
                        "yaw": -0.175689697265625
                    }
                },
                "velocity": {
                    "x": 1.6424524784088135,
                    "y": -0.0037581196520477533,
                    "z": 0.006831226404756308
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.461655616760254,
                "transform": {
                    "location": {
                        "x": 2139.656005859375,
                        "y": 2524.48583984375,
                        "z": 364.7832336425781
                    },
                    "rotation": {
                        "roll": 0.0010721375001594424,
                        "pitch": 0.23616060614585876,
                        "yaw": -179.8798370361328
                    }
                },
                "velocity": {
                    "x": -1.4616352319717407,
                    "y": -0.005243347957730293,
                    "z": 0.005664071999490261
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.286543846130371,
                "transform": {
                    "location": {
                        "x": 2124.8017578125,
                        "y": 2524.525146484375,
                        "z": 364.84979248046875
                    },
                    "rotation": {
                        "roll": 0.008505403995513916,
                        "pitch": 0.6196689009666443,
                        "yaw": -179.75433349609375
                    }
                },
                "velocity": {
                    "x": -7.286401271820068,
                    "y": -0.03201849013566971,
                    "z": 0.032378729432821274
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.960035800933838,
                "transform": {
                    "location": {
                        "x": 2172.210693359375,
                        "y": 2527.32470703125,
                        "z": 364.89703369140625
                    },
                    "rotation": {
                        "roll": -0.005157470237463713,
                        "pitch": 1.074689269065857,
                        "yaw": -0.4465026557445526
                    }
                },
                "velocity": {
                    "x": 2.9594812393188477,
                    "y": -0.010035128332674503,
                    "z": 0.05639270693063736
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.2207474261522293,
        "expert_target_speed": 7.966418333582621,
        "target_point": [
            17.623056512200222,
            0.09492086403267275
        ],
        "target_point_next": [
            17.623056512200222,
            0.09492086403267275
        ]
    },
    "685": {
        "acceleration": [
            -0.8439350128173828,
            -0.14583438634872437,
            0.004054754972457886
        ],
        "angular_velocity": [
            -0.17512838542461395,
            -0.07161466032266617,
            0.7755280137062073
        ],
        "forward_vector": [
            -0.9996522068977356,
            0.024893973022699356,
            -0.008702049031853676
        ],
        "right_vector": [
            -0.02489352785050869,
            -0.9996901154518127,
            -0.00015959408483467996
        ],
        "location": [
            2163.90869140625,
            2524.224853515625,
            364.779296875
        ],
        "rotation": [
            0.009144413284957409,
            -0.4985969662666321,
            178.573486328125
        ],
        "velocity": [
            -7.646423816680908,
            0.17664316296577454,
            -0.08011041581630707
        ],
        "speed": 7.648463897497822,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 24.688133239746094,
        "front_vehicle_info": {
            "id": 48767,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2139.221923828125,
                2524.484375,
                364.7850036621094
            ],
            "velocity": [
                -2.0036091804504395,
                -0.0072294180281460285,
                0.005803375039249659
            ],
            "speed_kmh": 7.213070259158212,
            "color": "61,86,143"
        },
        "other_vehicles": [
            {
                "id": 48792,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.01843453384935856,
                "transform": {
                    "location": {
                        "x": 2147.80078125,
                        "y": 2527.357177734375,
                        "z": 364.7602233886719
                    },
                    "rotation": {
                        "roll": 0.00040940390317700803,
                        "pitch": -0.481289267539978,
                        "yaw": 0.021397918462753296
                    }
                },
                "velocity": {
                    "x": 0.018422182649374008,
                    "y": -0.000561755383387208,
                    "z": -0.0003736648941412568
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48788,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.1718783378601074,
                "transform": {
                    "location": {
                        "x": 2160.831787109375,
                        "y": 2527.346923828125,
                        "z": 364.7538146972656
                    },
                    "rotation": {
                        "roll": -0.00024414061044808477,
                        "pitch": 0.3326301872730255,
                        "yaw": -0.1618652194738388
                    }
                },
                "velocity": {
                    "x": 2.1717915534973145,
                    "y": -0.004618263337761164,
                    "z": 0.018842171877622604
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.0036306381225586,
                "transform": {
                    "location": {
                        "x": 2139.221923828125,
                        "y": 2524.484375,
                        "z": 364.7850036621094
                    },
                    "rotation": {
                        "roll": 0.0010285505559295416,
                        "pitch": 0.23636551201343536,
                        "yaw": -179.86346435546875
                    }
                },
                "velocity": {
                    "x": -2.0036091804504395,
                    "y": -0.0072294180281460285,
                    "z": 0.005803375039249659
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.400565147399902,
                "transform": {
                    "location": {
                        "x": 2122.7744140625,
                        "y": 2524.516357421875,
                        "z": 364.8598327636719
                    },
                    "rotation": {
                        "roll": 0.003477394813671708,
                        "pitch": 0.5707442164421082,
                        "yaw": -179.7350311279297
                    }
                },
                "velocity": {
                    "x": -8.400361061096191,
                    "y": -0.03804846853017807,
                    "z": 0.044496018439531326
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.516270637512207,
                "transform": {
                    "location": {
                        "x": 2172.65283203125,
                        "y": 2527.324951171875,
                        "z": 364.9054870605469
                    },
                    "rotation": {
                        "roll": -0.006744384299963713,
                        "pitch": 1.0654616355895996,
                        "yaw": -0.537628173828125
                    }
                },
                "velocity": {
                    "x": 2.5158159732818604,
                    "y": -0.0067048510536551476,
                    "z": 0.047365475445985794
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.1782529056072235,
        "expert_target_speed": 8.14528387656657,
        "target_point": [
            15.742355890697798,
            0.09114530532236798
        ],
        "target_point_next": [
            15.742355890697798,
            0.09114530532236798
        ]
    },
    "690": {
        "acceleration": [
            -1.1423015594482422,
            -0.19512653350830078,
            0.03147110342979431
        ],
        "angular_velocity": [
            -0.1442294716835022,
            0.9985440373420715,
            1.4365252256393433
        ],
        "forward_vector": [
            -0.9997900724411011,
            0.019494254142045975,
            -0.006306844297796488
        ],
        "right_vector": [
            -0.01949901692569256,
            -0.9998096823692322,
            0.0006945382920093834
        ],
        "location": [
            2161.960693359375,
            2524.263916015625,
            364.76214599609375
        ],
        "rotation": [
            -0.039794910699129105,
            -0.3613579571247101,
            178.88296508789062
        ],
        "velocity": [
            -7.903166770935059,
            0.13042597472667694,
            -0.056168001145124435
        ],
        "speed": 7.904242907710737,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.31402587890625,
        "front_vehicle_info": {
            "id": 48767,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2138.647705078125,
                2524.482421875,
                364.78704833984375
            ],
            "velocity": [
                -2.5649380683898926,
                -0.009416782297194004,
                0.009721736423671246
            ],
            "speed_kmh": 9.233905601358606,
            "color": "61,86,143"
        },
        "other_vehicles": [
            {
                "id": 48792,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.110896348953247,
                "transform": {
                    "location": {
                        "x": 2147.93115234375,
                        "y": 2527.357177734375,
                        "z": 364.759765625
                    },
                    "rotation": {
                        "roll": -0.00048828122089616954,
                        "pitch": -0.1832198202610016,
                        "yaw": 0.00347919506020844
                    }
                },
                "velocity": {
                    "x": 1.110891580581665,
                    "y": -2.7624160793493502e-05,
                    "z": -0.0032310960814356804
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48788,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.17693817615509033,
                "transform": {
                    "location": {
                        "x": 2161.037109375,
                        "y": 2527.34619140625,
                        "z": 364.7560729980469
                    },
                    "rotation": {
                        "roll": 0.0011946794111281633,
                        "pitch": 0.3062041997909546,
                        "yaw": -0.112396240234375
                    }
                },
                "velocity": {
                    "x": 0.1769067347049713,
                    "y": -0.00039815439959056675,
                    "z": 0.003311643609777093
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.564973831176758,
                "transform": {
                    "location": {
                        "x": 2138.647705078125,
                        "y": 2524.482421875,
                        "z": 364.78704833984375
                    },
                    "rotation": {
                        "roll": 0.0013301344588398933,
                        "pitch": 0.23700755834579468,
                        "yaw": -179.84201049804688
                    }
                },
                "velocity": {
                    "x": -2.5649380683898926,
                    "y": -0.009416782297194004,
                    "z": 0.009721736423671246
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.857272148132324,
                "transform": {
                    "location": {
                        "x": 2120.747802734375,
                        "y": 2524.51025390625,
                        "z": 364.87255859375
                    },
                    "rotation": {
                        "roll": 0.011944610625505447,
                        "pitch": 0.37348154187202454,
                        "yaw": -179.85684204101562
                    }
                },
                "velocity": {
                    "x": -7.85707950592041,
                    "y": -0.0148083521053195,
                    "z": 0.05301256850361824
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.354621171951294,
                "transform": {
                    "location": {
                        "x": 2173.448486328125,
                        "y": 2527.35595703125,
                        "z": 364.9197082519531
                    },
                    "rotation": {
                        "roll": -0.02294921688735485,
                        "pitch": 1.1795121431350708,
                        "yaw": 0.22096049785614014
                    }
                },
                "velocity": {
                    "x": 3.3438971042633057,
                    "y": 0.2602114677429199,
                    "z": 0.06422534584999084
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.15430068969726562,
        "expert_target_speed": 8.313945765352543,
        "target_point": [
            13.794229198738712,
            0.007190636013287066
        ],
        "target_point_next": [
            13.794229198738712,
            0.007190636013287066
        ]
    },
    "695": {
        "acceleration": [
            -0.3121376037597656,
            -0.01856297254562378,
            0.14580711722373962
        ],
        "angular_velocity": [
            0.08935052901506424,
            -0.001396826934069395,
            0.2519436180591583
        ],
        "forward_vector": [
            -0.9998664855957031,
            0.01605091616511345,
            -0.0030780979432165623
        ],
        "right_vector": [
            -0.016052277758717537,
            -0.9998711347579956,
            0.00041811427217908204
        ],
        "location": [
            2159.96240234375,
            2524.2958984375,
            364.74798583984375
        ],
        "rotation": [
            -0.02395629696547985,
            -0.1763623058795929,
            179.08030700683594
        ],
        "velocity": [
            -8.051514625549316,
            0.12581896781921387,
            -0.042203839868307114
        ],
        "speed": 8.052497636019377,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.029129028320312,
        "front_vehicle_info": {
            "id": 48767,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2137.93408203125,
                2524.47998046875,
                364.7898864746094
            ],
            "velocity": [
                -3.130817174911499,
                -0.012009847909212112,
                0.011146278120577335
            ],
            "speed_kmh": 11.27109618344813,
            "color": "61,86,143"
        },
        "other_vehicles": [
            {
                "id": 48792,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.3693723678588867,
                "transform": {
                    "location": {
                        "x": 2148.3798828125,
                        "y": 2527.357177734375,
                        "z": 364.7581481933594
                    },
                    "rotation": {
                        "roll": 2.8705662771244533e-05,
                        "pitch": -0.0038180756382644176,
                        "yaw": 0.011052053421735764
                    }
                },
                "velocity": {
                    "x": 2.369351625442505,
                    "y": -0.00033362876274622977,
                    "z": -0.009892978705465794
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48788,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.8544291257858276,
                "transform": {
                    "location": {
                        "x": 2161.166748046875,
                        "y": 2527.345947265625,
                        "z": 364.75677490234375
                    },
                    "rotation": {
                        "roll": 0.0008231454412452877,
                        "pitch": 0.3722657859325409,
                        "yaw": -0.0727844163775444
                    }
                },
                "velocity": {
                    "x": 0.8543976545333862,
                    "y": -0.0022010321263223886,
                    "z": 0.006995687261223793
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.1308600902557373,
                "transform": {
                    "location": {
                        "x": 2137.93408203125,
                        "y": 2524.47998046875,
                        "z": 364.7898864746094
                    },
                    "rotation": {
                        "roll": 0.00041133956983685493,
                        "pitch": 0.23722611367702484,
                        "yaw": -179.82363891601562
                    }
                },
                "velocity": {
                    "x": -3.130817174911499,
                    "y": -0.012009847909212112,
                    "z": 0.011146278120577335
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.040574073791504,
                "transform": {
                    "location": {
                        "x": 2118.77685546875,
                        "y": 2524.50732421875,
                        "z": 364.8863525390625
                    },
                    "rotation": {
                        "roll": 0.009067084640264511,
                        "pitch": 0.48752522468566895,
                        "yaw": -179.91017150878906
                    }
                },
                "velocity": {
                    "x": -8.040319442749023,
                    "y": -0.008580752648413181,
                    "z": 0.06341331452131271
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.20982027053833,
                "transform": {
                    "location": {
                        "x": 2174.2236328125,
                        "y": 2527.408447265625,
                        "z": 364.9351806640625
                    },
                    "rotation": {
                        "roll": 0.02045552246272564,
                        "pitch": 1.150463342666626,
                        "yaw": 0.87301105260849
                    }
                },
                "velocity": {
                    "x": 3.2020037174224854,
                    "y": 0.21455055475234985,
                    "z": 0.06392887234687805
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48794,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.0753426551818848,
                "transform": {
                    "location": {
                        "x": 2175.678955078125,
                        "y": 2524.465087890625,
                        "z": 365.32171630859375
                    },
                    "rotation": {
                        "roll": -1.0424093532801493e-10,
                        "pitch": -1.1368712186813354,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": -2.8950626850128174,
                    "y": 0.006364431232213974,
                    "z": -1.0374515056610107
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.13169242441654205,
        "expert_target_speed": 8.398925120443026,
        "target_point": [
            11.795625213371485,
            -0.040414775458175595
        ],
        "target_point_next": [
            11.795625213371485,
            -0.040414775458175595
        ]
    },
    "700": {
        "acceleration": [
            1.3484573364257812,
            -0.046010613441467285,
            0.2932889759540558
        ],
        "angular_velocity": [
            -0.019776085391640663,
            0.034357037395238876,
            0.20969338715076447
        ],
        "forward_vector": [
            -0.9998782873153687,
            0.01512760017067194,
            -0.0038062240928411484
        ],
        "right_vector": [
            -0.015128850005567074,
            -0.9998854994773865,
            0.0002998697164002806
        ],
        "location": [
            2157.941162109375,
            2524.326904296875,
            364.7394104003906
        ],
        "rotation": [
            -0.01718139462172985,
            -0.21808110177516937,
            179.13320922851562
        ],
        "velocity": [
            -8.0055570602417,
            0.11798117309808731,
            -0.019079264253377914
        ],
        "speed": 8.006426381475778,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.878053665161133,
        "front_vehicle_info": {
            "id": 48767,
            "type": "vehicle.chevrolet.impala",
            "location": [
                2137.063720703125,
                2524.4775390625,
                364.79315185546875
            ],
            "velocity": [
                -3.8402528762817383,
                -0.004972401075065136,
                0.014224519021809101
            ],
            "speed_kmh": 13.825016782374338,
            "color": "61,86,143"
        },
        "other_vehicles": [
            {
                "id": 48792,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.007956575602293015,
                "transform": {
                    "location": {
                        "x": 2148.796142578125,
                        "y": 2527.357177734375,
                        "z": 364.75640869140625
                    },
                    "rotation": {
                        "roll": 0.001133013516664505,
                        "pitch": -0.5594744086265564,
                        "yaw": -0.097747802734375
                    }
                },
                "velocity": {
                    "x": 0.00792600866407156,
                    "y": 0.0004895668826065958,
                    "z": 0.0004957815399393439
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48788,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.6095930337905884,
                "transform": {
                    "location": {
                        "x": 2161.4833984375,
                        "y": 2527.34521484375,
                        "z": 364.75909423828125
                    },
                    "rotation": {
                        "roll": 0.0004264150047674775,
                        "pitch": 0.42080792784690857,
                        "yaw": -0.087249755859375
                    }
                },
                "velocity": {
                    "x": 1.6095290184020996,
                    "y": -0.0024574974086135626,
                    "z": 0.014150246977806091
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 48767,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.840282440185547,
                "transform": {
                    "location": {
                        "x": 2137.063720703125,
                        "y": 2524.4775390625,
                        "z": 364.79315185546875
                    },
                    "rotation": {
                        "roll": 0.002971567679196596,
                        "pitch": 0.24067535996437073,
                        "yaw": -179.8373260498047
                    }
                },
                "velocity": {
                    "x": -3.8402528762817383,
                    "y": -0.004972401075065136,
                    "z": 0.014224519021809101
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 48766,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.119071006774902,
                "transform": {
                    "location": {
                        "x": 2116.739990234375,
                        "y": 2524.506103515625,
                        "z": 364.90380859375
                    },
                    "rotation": {
                        "roll": 0.009251020848751068,
                        "pitch": 0.5263274908065796,
                        "yaw": -179.98280334472656
                    }
                },
                "velocity": {
                    "x": -8.118711471557617,
                    "y": 0.000669384200591594,
                    "z": 0.07642582058906555
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 48783,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.9802510738372803,
                "transform": {
                    "location": {
                        "x": 2174.92431640625,
                        "y": 2527.447509765625,
                        "z": 364.9492492675781
                    },
                    "rotation": {
                        "roll": 0.04123425856232643,
                        "pitch": 1.1392072439193726,
                        "yaw": 1.9919466972351074
                    }
                },
                "velocity": {
                    "x": 2.972134590148926,
                    "y": 0.21182721853256226,
                    "z": 0.05867212265729904
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 48794,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.9144692420959473,
                "transform": {
                    "location": {
                        "x": 2174.96923828125,
                        "y": 2524.46484375,
                        "z": 364.9071350097656
                    },
                    "rotation": {
                        "roll": -0.009277340956032276,
                        "pitch": -1.1467204093933105,
                        "yaw": 179.96165466308594
                    }
                },
                "velocity": {
                    "x": -2.88073468208313,
                    "y": -0.03533923253417015,
                    "z": -0.44073760509490967
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.11326558142900467,
        "expert_target_speed": 8.34876248043048,
        "target_point": [
            9.774104887257884,
            -0.05087806223711866
        ],
        "target_point_next": [
            9.774104887257884,
            -0.05087806223711866
        ]
    }
}