{
    "0": {
        "acceleration": [
            0.0060109165497124195,
            0.0021691229194402695,
            -0.5677703022956848
        ],
        "angular_velocity": [
            -0.011337723582983017,
            -0.03461866080760956,
            -0.0001433350407751277
        ],
        "forward_vector": [
            -0.9539373517036438,
            0.29990971088409424,
            -0.007594154216349125
        ],
        "right_vector": [
            -0.29991891980171204,
            -0.9539647102355957,
            7.989245204953477e-05
        ],
        "location": [
            475.14019775390625,
            5082.88623046875,
            369.63531494140625
        ],
        "rotation": [
            -0.004577632527798414,
            -0.4351171851158142,
            162.54730224609375
        ],
        "velocity": [
            -0.0016420010942965746,
            0.0004740776785183698,
            0.2063944935798645
        ],
        "speed": 0.0017090691147348357,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0013456287560984492,
        "expert_target_speed": 10.0,
        "target_point": [
            50.909595586098426,
            1.4333059289982497
        ],
        "target_point_next": [
            102.72946943563463,
            4.313656959955917
        ]
    },
    "5": {
        "acceleration": [
            0.0033475214149802923,
            -0.0013200659304857254,
            -0.3992164134979248
        ],
        "angular_velocity": [
            0.02253921702504158,
            -0.022763097658753395,
            0.0001253074296982959
        ],
        "forward_vector": [
            -0.9539364576339722,
            0.29990968108177185,
            -0.007711929734796286
        ],
        "right_vector": [
            -0.29991868138313293,
            -0.9539648294448853,
            1.0652350283635315e-05
        ],
        "location": [
            475.1402587890625,
            5082.88623046875,
            369.6676330566406
        ],
        "rotation": [
            -0.0006103528430685401,
            -0.4418654143810272,
            162.5472869873047
        ],
        "velocity": [
            -0.0006544039351865649,
            -3.829670822597109e-05,
            0.07193455845117569
        ],
        "speed": 0.000655523568034443,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.96936321258545,
        "front_vehicle_info": {
            "id": 18819,
            "type": "vehicle.chevrolet.impala",
            "location": [
                460.8330078125,
                5087.28759765625,
                369.556396484375
            ],
            "velocity": [
                0.00362821901217103,
                -0.0010783852776512504,
                -0.5143391489982605
            ],
            "speed_kmh": 1.8516710746134686,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 18827,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 401.35882568359375,
                        "y": 5110.2119140625,
                        "z": 369.21832275390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.24906283617019653,
                        "yaw": -15.13963794708252
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18826,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 400.541015625,
                        "y": 5107.0673828125,
                        "z": 369.2166442871094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.24906283617019653,
                        "yaw": -15.13963794708252
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18825,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.45685097575187683,
                "transform": {
                    "location": {
                        "x": 502.78411865234375,
                        "y": 5070.7880859375,
                        "z": 369.9021301269531
                    },
                    "rotation": {
                        "roll": 0.000339176447596401,
                        "pitch": -0.39841175079345703,
                        "yaw": 162.54730224609375
                    }
                },
                "velocity": {
                    "x": 0.0029807251412421465,
                    "y": -0.0010002084309235215,
                    "z": -0.4568401575088501
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18824,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.3637644946575165,
                "transform": {
                    "location": {
                        "x": 488.4745178222656,
                        "y": 5075.28759765625,
                        "z": 369.7966613769531
                    },
                    "rotation": {
                        "roll": -6.103313353378326e-05,
                        "pitch": -0.42248132824897766,
                        "yaw": 162.54730224609375
                    }
                },
                "velocity": {
                    "x": 0.0025745288003236055,
                    "y": -0.0007261267164722085,
                    "z": -0.36375465989112854
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.35634100437164307,
                "transform": {
                    "location": {
                        "x": 459.91827392578125,
                        "y": 5084.16845703125,
                        "z": 369.57135009765625
                    },
                    "rotation": {
                        "roll": -6.103317718952894e-05,
                        "pitch": -0.42889487743377686,
                        "yaw": 163.65267944335938
                    }
                },
                "velocity": {
                    "x": 0.002441059099510312,
                    "y": -0.00082218530587852,
                    "z": -0.3563317060470581
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 18822,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.4525504410266876,
                "transform": {
                    "location": {
                        "x": 445.5675354003906,
                        "y": 5088.16552734375,
                        "z": 369.46148681640625
                    },
                    "rotation": {
                        "roll": 1.7436050256947055e-05,
                        "pitch": -0.3843415677547455,
                        "yaw": 164.86032104492188
                    }
                },
                "velocity": {
                    "x": 0.002916457364335656,
                    "y": -0.0008059734827838838,
                    "z": -0.4525403380393982
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18821,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.36419034004211426,
                "transform": {
                    "location": {
                        "x": 503.75872802734375,
                        "y": 5073.888671875,
                        "z": 369.9047546386719
                    },
                    "rotation": {
                        "roll": -0.001190182869322598,
                        "pitch": -0.4017038941383362,
                        "yaw": 162.54737854003906
                    }
                },
                "velocity": {
                    "x": 0.0025566231925040483,
                    "y": -0.00028366519836708903,
                    "z": -0.364181250333786
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18820,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.5153520107269287,
                "transform": {
                    "location": {
                        "x": 489.4493103027344,
                        "y": 5078.38720703125,
                        "z": 369.7828369140625
                    },
                    "rotation": {
                        "roll": -0.00045776189654134214,
                        "pitch": -0.4235195219516754,
                        "yaw": 162.54730224609375
                    }
                },
                "velocity": {
                    "x": 0.003617979818955064,
                    "y": -0.0011968035250902176,
                    "z": -0.5153379440307617
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18819,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.5143530964851379,
                "transform": {
                    "location": {
                        "x": 460.8330078125,
                        "y": 5087.28759765625,
                        "z": 369.556396484375
                    },
                    "rotation": {
                        "roll": 0.0018969569355249405,
                        "pitch": -0.4244074523448944,
                        "yaw": 163.65267944335938
                    }
                },
                "velocity": {
                    "x": 0.00362821901217103,
                    "y": -0.0010783852776512504,
                    "z": -0.5143391489982605
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18818,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.501686155796051,
                "transform": {
                    "location": {
                        "x": 446.4162902832031,
                        "y": 5091.302734375,
                        "z": 369.45257568359375
                    },
                    "rotation": {
                        "roll": -9.155261795967817e-05,
                        "pitch": -0.3851611912250519,
                        "yaw": 164.86029052734375
                    }
                },
                "velocity": {
                    "x": 0.0032429222483187914,
                    "y": -0.0008839502697810531,
                    "z": -0.5016748905181885
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0017007398419082165,
        "expert_target_speed": 1.0488680179733711,
        "target_point": [
            50.90965312803726,
            1.433348510139
        ],
        "target_point_next": [
            102.72952560410917,
            4.3137242507377245
        ]
    },
    "10": {
        "acceleration": [
            0.0002826034324243665,
            -0.0013297433033585548,
            -0.12310996651649475
        ],
        "angular_velocity": [
            -0.007990328595042229,
            -0.01351113524287939,
            -0.0001009068510029465
        ],
        "forward_vector": [
            -0.953935980796814,
            0.299909770488739,
            -0.007757227867841721
        ],
        "right_vector": [
            -0.2999187111854553,
            -0.9539647102355957,
            -1.2272619642317295e-05
        ],
        "location": [
            475.1402893066406,
            5082.88623046875,
            369.6774597167969
        ],
        "rotation": [
            0.000703190453350544,
            -0.4444608688354492,
            162.54727172851562
        ],
        "velocity": [
            -0.0002544410526752472,
            -0.00010500643838895485,
            0.01914399303495884
        ],
        "speed": 0.00027525733666811005,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.969283103942871,
        "front_vehicle_info": {
            "id": 18819,
            "type": "vehicle.chevrolet.impala",
            "location": [
                460.8331298828125,
                5087.287109375,
                369.5475158691406
            ],
            "velocity": [
                -0.0007552891038358212,
                0.00021387053129728884,
                0.10468347370624542
            ],
            "speed_kmh": 0.37687110060065837,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 18827,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 403.3715515136719,
                        "y": 5109.6748046875,
                        "z": 369.212646484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.24906283617019653,
                        "yaw": -15.13963794708252
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18826,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 402.5535583496094,
                        "y": 5106.5302734375,
                        "z": 369.2117614746094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.24906283617019653,
                        "yaw": -15.13963794708252
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18825,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.09461739659309387,
                "transform": {
                    "location": {
                        "x": 502.7842102050781,
                        "y": 5070.7880859375,
                        "z": 369.89495849609375
                    },
                    "rotation": {
                        "roll": 0.0006443544407375157,
                        "pitch": -0.3978175222873688,
                        "yaw": 162.54730224609375
                    }
                },
                "velocity": {
                    "x": -0.0006248296122066677,
                    "y": 0.00024194378056563437,
                    "z": 0.09461502730846405
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18824,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.04470137879252434,
                "transform": {
                    "location": {
                        "x": 488.474609375,
                        "y": 5075.28759765625,
                        "z": 369.7889709472656
                    },
                    "rotation": {
                        "roll": -3.051656676689163e-05,
                        "pitch": -0.42309603095054626,
                        "yaw": 162.5472869873047
                    }
                },
                "velocity": {
                    "x": -0.00029730750247836113,
                    "y": 0.00021798220404889435,
                    "z": 0.044699858874082565
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.04384118691086769,
                "transform": {
                    "location": {
                        "x": 459.9183044433594,
                        "y": 5084.16845703125,
                        "z": 369.56390380859375
                    },
                    "rotation": {
                        "roll": -0.0002136228431481868,
                        "pitch": -0.4301789402961731,
                        "yaw": 163.6526641845703
                    }
                },
                "velocity": {
                    "x": -0.00034132919972762465,
                    "y": 0.00013127551937941462,
                    "z": 0.04383965954184532
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 18822,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.09513060003519058,
                "transform": {
                    "location": {
                        "x": 445.5675964355469,
                        "y": 5088.16552734375,
                        "z": 369.45440673828125
                    },
                    "rotation": {
                        "roll": 0.00014727257075719535,
                        "pitch": -0.38326922059059143,
                        "yaw": 164.86029052734375
                    }
                },
                "velocity": {
                    "x": -0.0006613483419641852,
                    "y": 0.00010449936235090718,
                    "z": 0.09512824565172195
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18821,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.044863276183605194,
                "transform": {
                    "location": {
                        "x": 503.7587890625,
                        "y": 5073.888671875,
                        "z": 369.8970642089844
                    },
                    "rotation": {
                        "roll": -0.0021057177800685167,
                        "pitch": -0.40225714445114136,
                        "yaw": 162.54730224609375
                    }
                },
                "velocity": {
                    "x": -0.0002913569624070078,
                    "y": 0.0002182641765102744,
                    "z": 0.044861800968647
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18820,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.10665547102689743,
                "transform": {
                    "location": {
                        "x": 489.4494323730469,
                        "y": 5078.38720703125,
                        "z": 369.7742919921875
                    },
                    "rotation": {
                        "roll": -0.0004272386431694031,
                        "pitch": -0.42327362298965454,
                        "yaw": 162.5472869873047
                    }
                },
                "velocity": {
                    "x": -0.0007875286391936243,
                    "y": 0.0001654320367379114,
                    "z": 0.10665243864059448
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18819,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.10468641668558121,
                "transform": {
                    "location": {
                        "x": 460.8331298828125,
                        "y": 5087.287109375,
                        "z": 369.5475158691406
                    },
                    "rotation": {
                        "roll": 0.002091562608256936,
                        "pitch": -0.4242503345012665,
                        "yaw": 163.6526336669922
                    }
                },
                "velocity": {
                    "x": -0.0007552891038358212,
                    "y": 0.00021387053129728884,
                    "z": 0.10468347370624542
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18818,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.10257311165332794,
                "transform": {
                    "location": {
                        "x": 446.4163818359375,
                        "y": 5091.302734375,
                        "z": 369.4442443847656
                    },
                    "rotation": {
                        "roll": 7.303264283109456e-05,
                        "pitch": -0.3848538100719452,
                        "yaw": 164.86026000976562
                    }
                },
                "velocity": {
                    "x": -0.0006724208360537887,
                    "y": 0.00021395363728515804,
                    "z": 0.10257068276405334
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0011457259533926845,
        "expert_target_speed": 0.9963923011699292,
        "target_point": [
            50.909681557252355,
            1.433381938544061
        ],
        "target_point_next": [
            102.7295526598482,
            4.313782388783192
        ]
    },
    "15": {
        "acceleration": [
            -4.439061740413308e-06,
            0.00013147370191290975,
            -0.006402693688869476
        ],
        "angular_velocity": [
            0.007578374817967415,
            -0.001083719078451395,
            -5.2653940656455234e-05
        ],
        "forward_vector": [
            -0.9539358615875244,
            0.2999097406864166,
            -0.00777200935408473
        ],
        "right_vector": [
            -0.2999187111854553,
            -0.9539647698402405,
            -1.2947827599418815e-05
        ],
        "location": [
            475.1402893066406,
            5082.88623046875,
            369.6799011230469
        ],
        "rotation": [
            0.0007418782915920019,
            -0.44530782103538513,
            162.54727172851562
        ],
        "velocity": [
            -5.764894012827426e-05,
            -1.1682956937875133e-05,
            0.005304534453898668
        ],
        "speed": 5.882084478078834e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.969175338745117,
        "front_vehicle_info": {
            "id": 18819,
            "type": "vehicle.chevrolet.impala",
            "location": [
                460.8331298828125,
                5087.287109375,
                369.56304931640625
            ],
            "velocity": [
                -0.00016128904826473445,
                0.00011070659093093127,
                0.02313818410038948
            ],
            "speed_kmh": 0.08330043987318239,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 18827,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 405.3841247558594,
                        "y": 5109.13720703125,
                        "z": 369.20703125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.24906283617019653,
                        "yaw": -15.13963794708252
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18826,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 404.5662536621094,
                        "y": 5105.9912109375,
                        "z": 369.2069091796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.24906283617019653,
                        "yaw": -15.13963794708252
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18825,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.02039451152086258,
                "transform": {
                    "location": {
                        "x": 502.7842102050781,
                        "y": 5070.7880859375,
                        "z": 369.908935546875
                    },
                    "rotation": {
                        "roll": 9.0748981165234e-05,
                        "pitch": -0.398227334022522,
                        "yaw": 162.5472869873047
                    }
                },
                "velocity": {
                    "x": -0.00014992989599704742,
                    "y": 3.788271715166047e-05,
                    "z": 0.02039392478764057
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18824,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.119551658630371,
                "transform": {
                    "location": {
                        "x": 488.3923645019531,
                        "y": 5075.3125,
                        "z": 369.7952575683594
                    },
                    "rotation": {
                        "roll": -0.0037841838784515858,
                        "pitch": -0.28244197368621826,
                        "yaw": 162.52432250976562
                    }
                },
                "velocity": {
                    "x": -1.070602536201477,
                    "y": 0.3274112939834595,
                    "z": 0.0028309153858572245
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.203298807144165,
                "transform": {
                    "location": {
                        "x": 459.80902099609375,
                        "y": 5084.19921875,
                        "z": 369.5697326660156
                    },
                    "rotation": {
                        "roll": -0.010467529296875,
                        "pitch": -0.2343096286058426,
                        "yaw": 163.69203186035156
                    }
                },
                "velocity": {
                    "x": -1.1593917608261108,
                    "y": 0.32207319140434265,
                    "z": 0.0027528475038707256
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 18822,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.020105615258216858,
                "transform": {
                    "location": {
                        "x": 445.5675964355469,
                        "y": 5088.16552734375,
                        "z": 369.4683837890625
                    },
                    "rotation": {
                        "roll": 0.000145338213769719,
                        "pitch": -0.3843074142932892,
                        "yaw": 164.86026000976562
                    }
                },
                "velocity": {
                    "x": -0.00014439313963521272,
                    "y": 4.437276948010549e-05,
                    "z": 0.020105047151446342
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18821,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.0731106996536255,
                "transform": {
                    "location": {
                        "x": 503.6773681640625,
                        "y": 5073.9130859375,
                        "z": 369.9033203125
                    },
                    "rotation": {
                        "roll": -0.0044555747881531715,
                        "pitch": -0.262818843126297,
                        "yaw": 162.58168029785156
                    }
                },
                "velocity": {
                    "x": -1.0262025594711304,
                    "y": 0.3137689530849457,
                    "z": 0.004898461978882551
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18820,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.023489603772759438,
                "transform": {
                    "location": {
                        "x": 489.4494323730469,
                        "y": 5078.38720703125,
                        "z": 369.78997802734375
                    },
                    "rotation": {
                        "roll": -0.00036619883030653,
                        "pitch": -0.42323946952819824,
                        "yaw": 162.54727172851562
                    }
                },
                "velocity": {
                    "x": -0.0001999331288971007,
                    "y": -2.7347523428034037e-05,
                    "z": 0.023488735780119896
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18819,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.02313901111483574,
                "transform": {
                    "location": {
                        "x": 460.8331298828125,
                        "y": 5087.287109375,
                        "z": 369.56304931640625
                    },
                    "rotation": {
                        "roll": 0.0030933867674320936,
                        "pitch": -0.4245850145816803,
                        "yaw": 163.65260314941406
                    }
                },
                "velocity": {
                    "x": -0.00016128904826473445,
                    "y": 0.00011070659093093127,
                    "z": 0.02313818410038948
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18818,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.02221732772886753,
                "transform": {
                    "location": {
                        "x": 446.4163818359375,
                        "y": 5091.302734375,
                        "z": 369.45953369140625
                    },
                    "rotation": {
                        "roll": 0.0003625251119956374,
                        "pitch": -0.38509970903396606,
                        "yaw": 164.86024475097656
                    }
                },
                "velocity": {
                    "x": -0.00017120226402767003,
                    "y": -1.2009767488052603e-05,
                    "z": 0.022216664627194405
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.00027243568911217153,
        "expert_target_speed": 0.9827305690074215,
        "target_point": [
            50.909681557252355,
            1.433381938544061
        ],
        "target_point_next": [
            102.7295526598482,
            4.313782388783192
        ]
    },
    "20": {
        "acceleration": [
            0.0001136302889790386,
            0.000144540099427104,
            -0.0019146339036524296
        ],
        "angular_velocity": [
            -0.013015499338507652,
            0.013142750598490238,
            -0.00024195737205445766
        ],
        "forward_vector": [
            -0.9539356827735901,
            0.29991018772125244,
            -0.007780115120112896
        ],
        "right_vector": [
            -0.29991912841796875,
            -0.9539646506309509,
            -2.120074350386858e-05
        ],
        "location": [
            475.1402893066406,
            5082.88623046875,
            369.6802978515625
        ],
        "rotation": [
            0.0012147498782724142,
            -0.445772260427475,
            162.5472412109375
        ],
        "velocity": [
            1.688793236098718e-05,
            5.6526714615756646e-05,
            0.0018217064207419753
        ],
        "speed": 5.8995522920646055e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.090622901916504,
        "front_vehicle_info": {
            "id": 18819,
            "type": "vehicle.chevrolet.impala",
            "location": [
                460.71612548828125,
                5087.31982421875,
                369.5634765625
            ],
            "velocity": [
                -1.0776995420455933,
                0.2951602637767792,
                -0.009302882477641106
            ],
            "speed_kmh": 4.022736116758277,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 18827,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 407.3951416015625,
                        "y": 5108.5927734375,
                        "z": 369.2162170410156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.277749627828598,
                        "yaw": -15.13963794708252
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18826,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 406.57733154296875,
                        "y": 5105.44677734375,
                        "z": 369.21624755859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.277749627828598,
                        "yaw": -15.13963794708252
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18825,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.206881046295166,
                "transform": {
                    "location": {
                        "x": 502.55792236328125,
                        "y": 5070.8564453125,
                        "z": 369.9101867675781
                    },
                    "rotation": {
                        "roll": 0.004718342330306768,
                        "pitch": -0.5890491604804993,
                        "yaw": 162.57713317871094
                    }
                },
                "velocity": {
                    "x": -2.1125054359436035,
                    "y": 0.6382812261581421,
                    "z": -0.015543622896075249
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18824,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.2112526893615723,
                "transform": {
                    "location": {
                        "x": 487.9859924316406,
                        "y": 5075.43603515625,
                        "z": 369.79351806640625
                    },
                    "rotation": {
                        "roll": -0.0036315880715847015,
                        "pitch": -0.25219789147377014,
                        "yaw": 162.68743896484375
                    }
                },
                "velocity": {
                    "x": -2.1146624088287354,
                    "y": 0.6462644934654236,
                    "z": -0.013545016758143902
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.715278387069702,
                "transform": {
                    "location": {
                        "x": 459.3289794921875,
                        "y": 5084.33203125,
                        "z": 369.5673828125
                    },
                    "rotation": {
                        "roll": -0.01629638858139515,
                        "pitch": -0.14001886546611786,
                        "yaw": 163.95407104492188
                    }
                },
                "velocity": {
                    "x": -2.6170506477355957,
                    "y": 0.7234910130500793,
                    "z": -0.018522238358855247
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 18822,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.2068495750427246,
                "transform": {
                    "location": {
                        "x": 445.33941650390625,
                        "y": 5088.22509765625,
                        "z": 369.4697265625
                    },
                    "rotation": {
                        "roll": 0.0037395029794424772,
                        "pitch": -0.5746101140975952,
                        "yaw": 164.97586059570312
                    }
                },
                "velocity": {
                    "x": -2.1366193294525146,
                    "y": 0.5520858764648438,
                    "z": -0.0156396571546793
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18821,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.205333948135376,
                "transform": {
                    "location": {
                        "x": 503.2683410644531,
                        "y": 5074.0380859375,
                        "z": 369.9017639160156
                    },
                    "rotation": {
                        "roll": -0.0046997047029435635,
                        "pitch": -0.23010222613811493,
                        "yaw": 162.69003295898438
                    }
                },
                "velocity": {
                    "x": -2.108931541442871,
                    "y": 0.644787073135376,
                    "z": -0.012444410473108292
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18820,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.1488219499588013,
                "transform": {
                    "location": {
                        "x": 489.3333435058594,
                        "y": 5078.4228515625,
                        "z": 369.7903747558594
                    },
                    "rotation": {
                        "roll": -0.0025024355854839087,
                        "pitch": -0.39172497391700745,
                        "yaw": 162.57034301757812
                    }
                },
                "velocity": {
                    "x": -1.0991894006729126,
                    "y": 0.33389952778816223,
                    "z": -0.009243945591151714
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18819,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.1174267530441284,
                "transform": {
                    "location": {
                        "x": 460.71612548828125,
                        "y": 5087.31982421875,
                        "z": 369.5634765625
                    },
                    "rotation": {
                        "roll": -0.0002746547688730061,
                        "pitch": -0.3933095932006836,
                        "yaw": 163.70201110839844
                    }
                },
                "velocity": {
                    "x": -1.0776995420455933,
                    "y": 0.2951602637767792,
                    "z": -0.009302882477641106
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18818,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9764752388000488,
                "transform": {
                    "location": {
                        "x": 446.21185302734375,
                        "y": 5091.3564453125,
                        "z": 369.4591979980469
                    },
                    "rotation": {
                        "roll": -0.0006103491759859025,
                        "pitch": -0.34533435106277466,
                        "yaw": 164.91307067871094
                    }
                },
                "velocity": {
                    "x": -1.91287362575531,
                    "y": 0.49714264273643494,
                    "z": -0.014772138558328152
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0006385922315530479,
        "expert_target_speed": 0.9879777795021628,
        "target_point": [
            50.909680873756805,
            1.433406214171777
        ],
        "target_point_next": [
            102.72955060286478,
            4.313831374050654
        ]
    },
    "25": {
        "acceleration": [
            -0.00011085422011092305,
            4.128404179937206e-05,
            0.009334790520370007
        ],
        "angular_velocity": [
            0.0026514630299061537,
            -0.0014729703543707728,
            -8.778161281952634e-05
        ],
        "forward_vector": [
            -0.9539352655410767,
            0.2999115288257599,
            -0.007779518608003855
        ],
        "right_vector": [
            -0.2999204993247986,
            -0.9539642333984375,
            -1.7038430087268353e-05
        ],
        "location": [
            475.1402893066406,
            5082.88623046875,
            369.6805114746094
        ],
        "rotation": [
            0.0009762597037479281,
            -0.4457381069660187,
            162.5471649169922
        ],
        "velocity": [
            -2.066463275696151e-05,
            5.2071363825234585e-06,
            0.0005599952419288456
        ],
        "speed": 2.1310591645618058e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.466622352600098,
        "front_vehicle_info": {
            "id": 18819,
            "type": "vehicle.chevrolet.impala",
            "location": [
                460.3538513183594,
                5087.4208984375,
                369.5603332519531
            ],
            "velocity": [
                -1.778143286705017,
                0.4858173727989197,
                -0.013437222689390182
            ],
            "speed_kmh": 6.636112148110802,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 18827,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 409.4062805175781,
                        "y": 5108.04931640625,
                        "z": 369.2254638671875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.277749627828598,
                        "yaw": -15.13963794708252
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18826,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 408.5885009765625,
                        "y": 5104.9033203125,
                        "z": 369.22564697265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.277749627828598,
                        "yaw": -15.13963794708252
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18825,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.3643314838409424,
                "transform": {
                    "location": {
                        "x": 501.8793640136719,
                        "y": 5071.06298828125,
                        "z": 369.9046325683594
                    },
                    "rotation": {
                        "roll": 0.0003077790897805244,
                        "pitch": -0.541531503200531,
                        "yaw": 162.74574279785156
                    }
                },
                "velocity": {
                    "x": -3.220390796661377,
                    "y": 0.973261296749115,
                    "z": -0.02388620376586914
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18824,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.767425775527954,
                "transform": {
                    "location": {
                        "x": 487.2742004394531,
                        "y": 5075.6533203125,
                        "z": 369.7882080078125
                    },
                    "rotation": {
                        "roll": -0.006469728425145149,
                        "pitch": -0.19766566157341003,
                        "yaw": 162.85841369628906
                    }
                },
                "velocity": {
                    "x": -3.603835105895996,
                    "y": 1.0977845191955566,
                    "z": -0.027207989245653152
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.274960994720459,
                "transform": {
                    "location": {
                        "x": 458.4754943847656,
                        "y": 5084.56689453125,
                        "z": 369.5610046386719
                    },
                    "rotation": {
                        "roll": -0.0189208947122097,
                        "pitch": -0.10851804167032242,
                        "yaw": 164.26766967773438
                    }
                },
                "velocity": {
                    "x": -4.122414588928223,
                    "y": 1.1313964128494263,
                    "z": -0.030519770458340645
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 18822,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.36366868019104,
                "transform": {
                    "location": {
                        "x": 444.6531066894531,
                        "y": 5088.40380859375,
                        "z": 369.46429443359375
                    },
                    "rotation": {
                        "roll": 0.0010912155266851187,
                        "pitch": -0.5270105600357056,
                        "yaw": 165.12171936035156
                    }
                },
                "velocity": {
                    "x": -3.256474494934082,
                    "y": 0.8420806527137756,
                    "z": -0.023262448608875275
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18821,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.7635910511016846,
                "transform": {
                    "location": {
                        "x": 502.5570983886719,
                        "y": 5074.25537109375,
                        "z": 369.89678955078125
                    },
                    "rotation": {
                        "roll": -0.006774901878088713,
                        "pitch": -0.17453181743621826,
                        "yaw": 162.85577392578125
                    }
                },
                "velocity": {
                    "x": -3.6002113819122314,
                    "y": 1.096536636352539,
                    "z": -0.02650519832968712
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18820,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.7840465307235718,
                "transform": {
                    "location": {
                        "x": 488.9732666015625,
                        "y": 5078.53369140625,
                        "z": 369.78729248046875
                    },
                    "rotation": {
                        "roll": -0.0021057098638266325,
                        "pitch": -0.39697739481925964,
                        "yaw": 162.69532775878906
                    }
                },
                "velocity": {
                    "x": -1.7071818113327026,
                    "y": 0.5178506970405579,
                    "z": -0.01352192834019661
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18819,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.8433643579483032,
                "transform": {
                    "location": {
                        "x": 460.3538513183594,
                        "y": 5087.4208984375,
                        "z": 369.5603332519531
                    },
                    "rotation": {
                        "roll": -0.003906250931322575,
                        "pitch": -0.3962124288082123,
                        "yaw": 163.92276000976562
                    }
                },
                "velocity": {
                    "x": -1.778143286705017,
                    "y": 0.4858173727989197,
                    "z": -0.013437222689390182
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18818,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.0257773399353027,
                "transform": {
                    "location": {
                        "x": 445.5898742675781,
                        "y": 5091.51904296875,
                        "z": 369.4547119140625
                    },
                    "rotation": {
                        "roll": -0.0009765623253770173,
                        "pitch": -0.354766845703125,
                        "yaw": 165.0323944091797
                    }
                },
                "velocity": {
                    "x": -2.9286177158355713,
                    "y": 0.760336697101593,
                    "z": -0.02038761042058468
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0010851062834262848,
        "expert_target_speed": 1.0040563855538938,
        "target_point": [
            50.90967950673096,
            1.4334547654262284
        ],
        "target_point_next": [
            102.72954648882788,
            4.31392934458264
        ]
    },
    "30": {
        "acceleration": [
            -6.763724327087402,
            2.163970470428467,
            -0.05964849144220352
        ],
        "angular_velocity": [
            0.43577277660369873,
            1.5430243015289307,
            -0.10525818169116974
        ],
        "forward_vector": [
            -0.953922688961029,
            0.2999720573425293,
            -0.006947103422135115
        ],
        "right_vector": [
            -0.29997915029525757,
            -0.9539457559585571,
            -2.3248721845448017e-05
        ],
        "location": [
            475.13104248046875,
            5082.8896484375,
            369.6803283691406
        ],
        "rotation": [
            0.0013320858124643564,
            -0.3980429172515869,
            162.54364013671875
        ],
        "velocity": [
            -0.338235080242157,
            0.10824428498744965,
            -0.0010625647846609354
        ],
        "speed": 0.35513348861922694,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.97522258758545,
        "front_vehicle_info": {
            "id": 18819,
            "type": "vehicle.chevrolet.impala",
            "location": [
                459.8539733886719,
                5087.55908203125,
                369.556640625
            ],
            "velocity": [
                -2.2452733516693115,
                0.6112512350082397,
                -0.016171226277947426
            ],
            "speed_kmh": 8.377364763413915,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 18827,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.667339324951172,
                "transform": {
                    "location": {
                        "x": 411.1544189453125,
                        "y": 5107.580078125,
                        "z": 369.2300720214844
                    },
                    "rotation": {
                        "roll": -0.0025024390779435635,
                        "pitch": 0.23017053306102753,
                        "yaw": -15.033310890197754
                    }
                },
                "velocity": {
                    "x": 6.445863723754883,
                    "y": -1.7041467428207397,
                    "z": 0.011615591123700142
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18826,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.063517570495605,
                "transform": {
                    "location": {
                        "x": 410.5476989746094,
                        "y": 5104.38671875,
                        "z": 369.2289733886719
                    },
                    "rotation": {
                        "roll": -0.006469720508903265,
                        "pitch": 0.26153475046157837,
                        "yaw": -14.711106300354004
                    }
                },
                "velocity": {
                    "x": 7.804141521453857,
                    "y": -2.02868914604187,
                    "z": 0.010465125553309917
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18825,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.505575180053711,
                "transform": {
                    "location": {
                        "x": 500.93267822265625,
                        "y": 5071.3505859375,
                        "z": 369.8973083496094
                    },
                    "rotation": {
                        "roll": -0.0014037948567420244,
                        "pitch": -0.5191899538040161,
                        "yaw": 162.91757202148438
                    }
                },
                "velocity": {
                    "x": -4.3129167556762695,
                    "y": 1.303059697151184,
                    "z": -0.03149592876434326
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18824,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.205625057220459,
                "transform": {
                    "location": {
                        "x": 486.1900939941406,
                        "y": 5075.98291015625,
                        "z": 369.7799987792969
                    },
                    "rotation": {
                        "roll": -0.007354734465479851,
                        "pitch": -0.1997966766357422,
                        "yaw": 163.0176239013672
                    }
                },
                "velocity": {
                    "x": -4.981287479400635,
                    "y": 1.5113428831100464,
                    "z": -0.03394842892885208
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.404384613037109,
                "transform": {
                    "location": {
                        "x": 457.2760009765625,
                        "y": 5084.89501953125,
                        "z": 369.55224609375
                    },
                    "rotation": {
                        "roll": -0.0162353478372097,
                        "pitch": -0.1609465628862381,
                        "yaw": 164.54925537109375
                    }
                },
                "velocity": {
                    "x": -5.213934898376465,
                    "y": 1.4215137958526611,
                    "z": -0.03943804278969765
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 18822,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.50432014465332,
                "transform": {
                    "location": {
                        "x": 443.6956787109375,
                        "y": 5088.65283203125,
                        "z": 369.45733642578125
                    },
                    "rotation": {
                        "roll": -0.0013122534146532416,
                        "pitch": -0.50078946352005,
                        "yaw": 165.27101135253906
                    }
                },
                "velocity": {
                    "x": -4.360827445983887,
                    "y": 1.1274707317352295,
                    "z": -0.029924845322966576
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18821,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.197805404663086,
                "transform": {
                    "location": {
                        "x": 501.47454833984375,
                        "y": 5074.583984375,
                        "z": 369.88897705078125
                    },
                    "rotation": {
                        "roll": -0.007019041106104851,
                        "pitch": -0.17706581950187683,
                        "yaw": 163.01763916015625
                    }
                },
                "velocity": {
                    "x": -4.973911762237549,
                    "y": 1.5087960958480835,
                    "z": -0.030275562778115273
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18820,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.3951642513275146,
                "transform": {
                    "location": {
                        "x": 488.4688415527344,
                        "y": 5078.68603515625,
                        "z": 369.7834777832031
                    },
                    "rotation": {
                        "roll": -0.001800526981242001,
                        "pitch": -0.4063962399959564,
                        "yaw": 162.6518096923828
                    }
                },
                "velocity": {
                    "x": -2.2920780181884766,
                    "y": 0.6949000358581543,
                    "z": -0.01743665710091591
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18819,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.3270456790924072,
                "transform": {
                    "location": {
                        "x": 459.8539733886719,
                        "y": 5087.55908203125,
                        "z": 369.556640625
                    },
                    "rotation": {
                        "roll": -0.003265375504270196,
                        "pitch": -0.4056107699871063,
                        "yaw": 164.13536071777344
                    }
                },
                "velocity": {
                    "x": -2.2452733516693115,
                    "y": 0.6112512350082397,
                    "z": -0.016171226277947426
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18818,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.7988409996032715,
                "transform": {
                    "location": {
                        "x": 444.75994873046875,
                        "y": 5091.7353515625,
                        "z": 369.448974609375
                    },
                    "rotation": {
                        "roll": -0.0024108891375362873,
                        "pitch": -0.3659956753253937,
                        "yaw": 165.1865997314453
                    }
                },
                "velocity": {
                    "x": -3.677380323410034,
                    "y": 0.9525846838951111,
                    "z": -0.025488795712590218
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.001996136736124754,
        "expert_target_speed": 1.3708431471181486,
        "target_point": [
            50.899744946024484,
            1.437073024999096
        ],
        "target_point_next": [
            102.71943464635211,
            4.320735142020251
        ]
    },
    "35": {
        "acceleration": [
            -3.500211238861084,
            1.1353117227554321,
            -0.02139165997505188
        ],
        "angular_velocity": [
            0.10974087566137314,
            0.3825736343860626,
            -0.09821445494890213
        ],
        "forward_vector": [
            -0.9537569284439087,
            0.30057600140571594,
            -0.001327871810644865
        ],
        "right_vector": [
            -0.3005761504173279,
            -0.9537578225135803,
            -0.00010094651224790141
        ],
        "location": [
            474.87921142578125,
            5082.9697265625,
            369.67724609375
        ],
        "rotation": [
            0.005783814005553722,
            -0.07608146965503693,
            162.50778198242188
        ],
        "velocity": [
            -1.4768959283828735,
            0.47317808866500854,
            -0.01179980207234621
        ],
        "speed": 1.5508446365985797,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.36721420288086,
        "front_vehicle_info": {
            "id": 18819,
            "type": "vehicle.chevrolet.impala",
            "location": [
                459.2210693359375,
                5087.7333984375,
                369.5518798828125
            ],
            "velocity": [
                -2.8005459308624268,
                0.7604003548622131,
                -0.021059827879071236
            ],
            "speed_kmh": 10.447265578157705,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 18827,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.860629558563232,
                "transform": {
                    "location": {
                        "x": 412.7906799316406,
                        "y": 5107.14794921875,
                        "z": 369.23583984375
                    },
                    "rotation": {
                        "roll": -0.00039672941784374416,
                        "pitch": 0.2833094000816345,
                        "yaw": -14.739033699035645
                    }
                },
                "velocity": {
                    "x": 6.6388678550720215,
                    "y": -1.7298853397369385,
                    "z": 0.034240130335092545
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18826,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.971907138824463,
                "transform": {
                    "location": {
                        "x": 412.4870910644531,
                        "y": 5103.88134765625,
                        "z": 369.2354736328125
                    },
                    "rotation": {
                        "roll": 0.001368490164168179,
                        "pitch": 0.2930014431476593,
                        "yaw": -14.578479766845703
                    }
                },
                "velocity": {
                    "x": 7.715538024902344,
                    "y": -2.0051019191741943,
                    "z": 0.03659890219569206
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18825,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.1970367431640625,
                "transform": {
                    "location": {
                        "x": 499.7340393066406,
                        "y": 5071.7138671875,
                        "z": 369.8885498046875
                    },
                    "rotation": {
                        "roll": -0.003540041856467724,
                        "pitch": -0.49029144644737244,
                        "yaw": 163.04501342773438
                    }
                },
                "velocity": {
                    "x": -4.974819660186768,
                    "y": 1.5029960870742798,
                    "z": -0.03689080476760864
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18824,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.544798851013184,
                "transform": {
                    "location": {
                        "x": 484.8814697265625,
                        "y": 5076.37890625,
                        "z": 369.7696838378906
                    },
                    "rotation": {
                        "roll": -0.006835939362645149,
                        "pitch": -0.3359701633453369,
                        "yaw": 163.1258087158203
                    }
                },
                "velocity": {
                    "x": -5.30714225769043,
                    "y": 1.605409026145935,
                    "z": -0.04121218994259834
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.883363723754883,
                "transform": {
                    "location": {
                        "x": 455.9194030761719,
                        "y": 5085.263671875,
                        "z": 369.5417175292969
                    },
                    "rotation": {
                        "roll": -0.014099113643169403,
                        "pitch": -0.2917788326740265,
                        "yaw": 164.781494140625
                    }
                },
                "velocity": {
                    "x": -5.678621292114258,
                    "y": 1.5379955768585205,
                    "z": -0.04243823140859604
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 18822,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.188918590545654,
                "transform": {
                    "location": {
                        "x": 442.4842224121094,
                        "y": 5088.966796875,
                        "z": 369.4489440917969
                    },
                    "rotation": {
                        "roll": -0.0020751990377902985,
                        "pitch": -0.4672532081604004,
                        "yaw": 165.38487243652344
                    }
                },
                "velocity": {
                    "x": -5.023598670959473,
                    "y": 1.2989143133163452,
                    "z": -0.03396424651145935
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18821,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.48221492767334,
                "transform": {
                    "location": {
                        "x": 500.1798400878906,
                        "y": 5074.9755859375,
                        "z": 369.87933349609375
                    },
                    "rotation": {
                        "roll": -0.006500243209302425,
                        "pitch": -0.3199738562107086,
                        "yaw": 163.1250762939453
                    }
                },
                "velocity": {
                    "x": -5.247316837310791,
                    "y": 1.5870896577835083,
                    "z": -0.038617007434368134
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18820,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.9231626987457275,
                "transform": {
                    "location": {
                        "x": 487.8309326171875,
                        "y": 5078.8798828125,
                        "z": 369.7784729003906
                    },
                    "rotation": {
                        "roll": -0.001770018134266138,
                        "pitch": -0.4103918969631195,
                        "yaw": 162.69439697265625
                    }
                },
                "velocity": {
                    "x": -2.7974135875701904,
                    "y": 0.8478678464889526,
                    "z": -0.02184296026825905
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18819,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.9020183086395264,
                "transform": {
                    "location": {
                        "x": 459.2210693359375,
                        "y": 5087.7333984375,
                        "z": 369.5518798828125
                    },
                    "rotation": {
                        "roll": -0.005065924488008022,
                        "pitch": -0.40310409665107727,
                        "yaw": 164.3464813232422
                    }
                },
                "velocity": {
                    "x": -2.8005459308624268,
                    "y": 0.7604003548622131,
                    "z": -0.021059827879071236
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18818,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.5497727394104,
                "transform": {
                    "location": {
                        "x": 443.7468566894531,
                        "y": 5091.9990234375,
                        "z": 369.44189453125
                    },
                    "rotation": {
                        "roll": -0.0037231435999274254,
                        "pitch": -0.3682291507720947,
                        "yaw": 165.33152770996094
                    }
                },
                "velocity": {
                    "x": -4.404796600341797,
                    "y": 1.1389837265014648,
                    "z": -0.030273865908384323
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.003493535565212369,
        "expert_target_speed": 2.552759119441072,
        "target_point": [
            50.63457982520011,
            1.4696212202668786
        ],
        "target_point_next": [
            102.45245394546308,
            4.385726413836949
        ]
    },
    "40": {
        "acceleration": [
            -5.173768997192383,
            1.6653287410736084,
            -0.0415550172328949
        ],
        "angular_velocity": [
            0.18261218070983887,
            0.6290764212608337,
            -0.49961215257644653
        ],
        "forward_vector": [
            -0.9532729387283325,
            0.3021088242530823,
            0.0009497402352280915
        ],
        "right_vector": [
            -0.30210912227630615,
            -0.953273355960846,
            -0.00015134656860027462
        ],
        "location": [
            474.36517333984375,
            5083.134765625,
            369.6726379394531
        ],
        "rotation": [
            0.008671524003148079,
            0.05441611260175705,
            162.41567993164062
        ],
        "velocity": [
            -2.7026877403259277,
            0.8685322403907776,
            -0.021458186209201813
        ],
        "speed": 2.838814765761636,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.632734298706055,
        "front_vehicle_info": {
            "id": 18819,
            "type": "vehicle.chevrolet.impala",
            "location": [
                458.4439392089844,
                5087.94580078125,
                369.5458984375
            ],
            "velocity": [
                -3.423814535140991,
                0.9277104735374451,
                -0.025468692183494568
            ],
            "speed_kmh": 12.77051547395554,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 18827,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.614970684051514,
                "transform": {
                    "location": {
                        "x": 414.4195861816406,
                        "y": 5106.72314453125,
                        "z": 369.2443542480469
                    },
                    "rotation": {
                        "roll": 0.0018279714277014136,
                        "pitch": 0.32129207253456116,
                        "yaw": -14.521167755126953
                    }
                },
                "velocity": {
                    "x": 6.404042720794678,
                    "y": -1.6567482948303223,
                    "z": 0.035454798489809036
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18826,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.495981693267822,
                "transform": {
                    "location": {
                        "x": 414.4105224609375,
                        "y": 5103.38134765625,
                        "z": 369.2455749511719
                    },
                    "rotation": {
                        "roll": 0.0036381222307682037,
                        "pitch": 0.3096124529838562,
                        "yaw": -14.564106941223145
                    }
                },
                "velocity": {
                    "x": 7.254971027374268,
                    "y": -1.8850767612457275,
                    "z": 0.04027312994003296
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18825,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.909339427947998,
                "transform": {
                    "location": {
                        "x": 498.4108581542969,
                        "y": 5072.11474609375,
                        "z": 369.8783874511719
                    },
                    "rotation": {
                        "roll": -0.008911139331758022,
                        "pitch": -0.47347551584243774,
                        "yaw": 163.0562286376953
                    }
                },
                "velocity": {
                    "x": -5.648614406585693,
                    "y": 1.7354109287261963,
                    "z": -0.042408283799886703
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18824,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.439823627471924,
                "transform": {
                    "location": {
                        "x": 483.36279296875,
                        "y": 5076.84130859375,
                        "z": 369.75787353515625
                    },
                    "rotation": {
                        "roll": 0.005300188437104225,
                        "pitch": -0.17129430174827576,
                        "yaw": 163.04266357421875
                    }
                },
                "velocity": {
                    "x": -7.112876892089844,
                    "y": 2.180556535720825,
                    "z": -0.05601025000214577
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.778992176055908,
                "transform": {
                    "location": {
                        "x": 454.3283386230469,
                        "y": 5085.6943359375,
                        "z": 369.52984619140625
                    },
                    "rotation": {
                        "roll": -0.00787353515625,
                        "pitch": -0.24429535865783691,
                        "yaw": 164.84005737304688
                    }
                },
                "velocity": {
                    "x": -6.543623447418213,
                    "y": 1.7701271772384644,
                    "z": -0.048759136348962784
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 18822,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.9374284744262695,
                "transform": {
                    "location": {
                        "x": 441.1468505859375,
                        "y": 5089.31396484375,
                        "z": 369.4395751953125
                    },
                    "rotation": {
                        "roll": -0.008697502315044403,
                        "pitch": -0.44396910071372986,
                        "yaw": 165.46630859375
                    }
                },
                "velocity": {
                    "x": -5.741533279418945,
                    "y": 1.5120811462402344,
                    "z": -0.03820428624749184
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18821,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.252507209777832,
                "transform": {
                    "location": {
                        "x": 499.2174377441406,
                        "y": 5075.2685546875,
                        "z": 369.87127685546875
                    },
                    "rotation": {
                        "roll": -0.0012512145331129432,
                        "pitch": -0.7579870223999023,
                        "yaw": 163.0758819580078
                    }
                },
                "velocity": {
                    "x": -2.15338134765625,
                    "y": 0.6606526970863342,
                    "z": -0.01659904420375824
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18820,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.54013991355896,
                "transform": {
                    "location": {
                        "x": 487.0564880371094,
                        "y": 5079.11572265625,
                        "z": 369.7723693847656
                    },
                    "rotation": {
                        "roll": -0.0031738250982016325,
                        "pitch": -0.41171011328697205,
                        "yaw": 162.8427276611328
                    }
                },
                "velocity": {
                    "x": -3.3883678913116455,
                    "y": 1.0251274108886719,
                    "z": -0.025827212259173393
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18819,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.547365427017212,
                "transform": {
                    "location": {
                        "x": 458.4439392089844,
                        "y": 5087.94580078125,
                        "z": 369.5458984375
                    },
                    "rotation": {
                        "roll": -0.005157469771802425,
                        "pitch": -0.39662906527519226,
                        "yaw": 164.53297424316406
                    }
                },
                "velocity": {
                    "x": -3.423814535140991,
                    "y": 0.9277104735374451,
                    "z": -0.025468692183494568
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18818,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.2565016746521,
                "transform": {
                    "location": {
                        "x": 442.5477600097656,
                        "y": 5092.3095703125,
                        "z": 369.4339904785156
                    },
                    "rotation": {
                        "roll": -0.00405884301289916,
                        "pitch": -0.3675529360771179,
                        "yaw": 165.4284210205078
                    }
                },
                "velocity": {
                    "x": -5.089499473571777,
                    "y": 1.3140205144882202,
                    "z": -0.03400646150112152
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.00958311278373003,
        "expert_target_speed": 3.8055903456005287,
        "target_point": [
            50.09227350294791,
            1.5530422712446317
        ],
        "target_point_next": [
            101.90539328176439,
            4.552436648348454
        ]
    },
    "45": {
        "acceleration": [
            -6.1701154708862305,
            2.0418262481689453,
            -0.050347596406936646
        ],
        "angular_velocity": [
            0.13941866159439087,
            0.36634477972984314,
            -0.6668194532394409
        ],
        "forward_vector": [
            -0.9525333046913147,
            0.3044097125530243,
            0.003870834829285741
        ],
        "right_vector": [
            -0.3044130504131317,
            -0.9525400400161743,
            -0.0002899382379837334
        ],
        "location": [
            473.4776306152344,
            5083.42041015625,
            369.6648864746094
        ],
        "rotation": [
            0.01661236211657524,
            0.22178305685520172,
            162.27720642089844
        ],
        "velocity": [
            -4.3032636642456055,
            1.392520546913147,
            -0.03416937217116356
        ],
        "speed": 4.522962705748501,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.695194244384766,
        "front_vehicle_info": {
            "id": 18819,
            "type": "vehicle.chevrolet.impala",
            "location": [
                457.48382568359375,
                5088.20703125,
                369.5385437011719
            ],
            "velocity": [
                -4.255561351776123,
                1.1505404710769653,
                -0.03149356693029404
            ],
            "speed_kmh": 15.870463377053838,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 18827,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.225045680999756,
                "transform": {
                    "location": {
                        "x": 416.0084533691406,
                        "y": 5106.3115234375,
                        "z": 369.253662109375
                    },
                    "rotation": {
                        "roll": 0.005249517969787121,
                        "pitch": 0.3113268315792084,
                        "yaw": -14.452837944030762
                    }
                },
                "velocity": {
                    "x": 6.023825168609619,
                    "y": -1.5695257186889648,
                    "z": 0.036291807889938354
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18826,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.7773003578186035,
                "transform": {
                    "location": {
                        "x": 415.9371643066406,
                        "y": 5102.9794921875,
                        "z": 369.2550048828125
                    },
                    "rotation": {
                        "roll": 0.006486791651695967,
                        "pitch": 0.23189857602119446,
                        "yaw": -14.741965293884277
                    }
                },
                "velocity": {
                    "x": 5.584100246429443,
                    "y": -1.4812045097351074,
                    "z": 0.03250119090080261
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18825,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.269770622253418,
                "transform": {
                    "location": {
                        "x": 496.8995666503906,
                        "y": 5072.5791015625,
                        "z": 369.86767578125
                    },
                    "rotation": {
                        "roll": -0.007354742847383022,
                        "pitch": -0.5486144423484802,
                        "yaw": 162.94744873046875
                    }
                },
                "velocity": {
                    "x": -6.9469146728515625,
                    "y": 2.141805648803711,
                    "z": -0.051068808883428574
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18824,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.535455703735352,
                "transform": {
                    "location": {
                        "x": 481.4538269042969,
                        "y": 5077.42822265625,
                        "z": 369.74273681640625
                    },
                    "rotation": {
                        "roll": 0.00511965062469244,
                        "pitch": -0.22808732092380524,
                        "yaw": 162.9124298095703
                    }
                },
                "velocity": {
                    "x": -8.157525062561035,
                    "y": 2.510916233062744,
                    "z": -0.06387343257665634
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.6007382869720459,
                "transform": {
                    "location": {
                        "x": 453.4317932128906,
                        "y": 5085.9365234375,
                        "z": 369.5225830078125
                    },
                    "rotation": {
                        "roll": -0.003234849078580737,
                        "pitch": -1.3121271133422852,
                        "yaw": 164.843994140625
                    }
                },
                "velocity": {
                    "x": -0.5799459218978882,
                    "y": 0.1566089391708374,
                    "z": -0.0047787856310606
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 18822,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.169656276702881,
                "transform": {
                    "location": {
                        "x": 439.6219177246094,
                        "y": 5089.7158203125,
                        "z": 369.42987060546875
                    },
                    "rotation": {
                        "roll": -0.007232659496366978,
                        "pitch": -0.5016705393791199,
                        "yaw": 165.32005310058594
                    }
                },
                "velocity": {
                    "x": -6.931065559387207,
                    "y": 1.833620548248291,
                    "z": -0.04623619094491005
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18821,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.7287328839302063,
                "transform": {
                    "location": {
                        "x": 499.0754699707031,
                        "y": 5075.3125,
                        "z": 369.8703308105469
                    },
                    "rotation": {
                        "roll": -0.004150389693677425,
                        "pitch": -0.6612852215766907,
                        "yaw": 163.11074829101562
                    }
                },
                "velocity": {
                    "x": -0.6963455677032471,
                    "y": 0.2147892564535141,
                    "z": -0.004474429879337549
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18820,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.371784210205078,
                "transform": {
                    "location": {
                        "x": 486.11126708984375,
                        "y": 5079.4033203125,
                        "z": 369.7649841308594
                    },
                    "rotation": {
                        "roll": -0.005462647415697575,
                        "pitch": -0.40594545006752014,
                        "yaw": 162.997802734375
                    }
                },
                "velocity": {
                    "x": -4.184941291809082,
                    "y": 1.2640254497528076,
                    "z": -0.031718023121356964
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18819,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.408462047576904,
                "transform": {
                    "location": {
                        "x": 457.48382568359375,
                        "y": 5088.20703125,
                        "z": 369.5385437011719
                    },
                    "rotation": {
                        "roll": -0.005004881415516138,
                        "pitch": -0.38656818866729736,
                        "yaw": 164.68576049804688
                    }
                },
                "velocity": {
                    "x": -4.255561351776123,
                    "y": 1.1505404710769653,
                    "z": -0.03149356693029404
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18818,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.898194789886475,
                "transform": {
                    "location": {
                        "x": 441.2168273925781,
                        "y": 5092.65625,
                        "z": 369.4249267578125
                    },
                    "rotation": {
                        "roll": -0.0019226084696128964,
                        "pitch": -0.3556888997554779,
                        "yaw": 165.37620544433594
                    }
                },
                "velocity": {
                    "x": -5.70380973815918,
                    "y": 1.5012624263763428,
                    "z": -0.038324542343616486
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.017879463732242584,
        "expert_target_speed": 5.382835481245963,
        "target_point": [
            49.15600015850179,
            1.676001052774117
        ],
        "target_point_next": [
            100.96172028134798,
            4.800598690345076
        ]
    },
    "50": {
        "acceleration": [
            0.0835418701171875,
            0.021224021911621094,
            -0.013013556599617004
        ],
        "angular_velocity": [
            -0.5448323488235474,
            -1.7445812225341797,
            -0.8157585859298706
        ],
        "forward_vector": [
            -0.9515240788459778,
            0.30756381154060364,
            0.0025385587941855192
        ],
        "right_vector": [
            -0.3075658679008484,
            -0.9515266418457031,
            -0.00045190652599558234
        ],
        "location": [
            472.231201171875,
            5083.82470703125,
            369.6554260253906
        ],
        "rotation": [
            0.02589242160320282,
            0.14544886350631714,
            162.08746337890625
        ],
        "velocity": [
            -5.267188549041748,
            1.7199347019195557,
            -0.04149458929896355
        ],
        "speed": 5.5408889710969325,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.61104393005371,
        "front_vehicle_info": {
            "id": 18819,
            "type": "vehicle.chevrolet.impala",
            "location": [
                456.3005065917969,
                5088.5283203125,
                369.5299377441406
            ],
            "velocity": [
                -5.05947208404541,
                1.3680803775787354,
                -0.036636557430028915
            ],
            "speed_kmh": 18.86868626275133,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 18827,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.22462797164917,
                "transform": {
                    "location": {
                        "x": 417.4897155761719,
                        "y": 5105.9248046875,
                        "z": 369.2624206542969
                    },
                    "rotation": {
                        "roll": 0.005576414987444878,
                        "pitch": 0.31843024492263794,
                        "yaw": -14.60002326965332
                    }
                },
                "velocity": {
                    "x": 6.01964807510376,
                    "y": -1.583881139755249,
                    "z": 0.033866845071315765
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18826,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.820738315582275,
                "transform": {
                    "location": {
                        "x": 417.3298645019531,
                        "y": 5102.6103515625,
                        "z": 369.2624816894531
                    },
                    "rotation": {
                        "roll": 0.004525159951299429,
                        "pitch": 0.31149759888648987,
                        "yaw": -14.806690216064453
                    }
                },
                "velocity": {
                    "x": 5.625825881958008,
                    "y": -1.4933141469955444,
                    "z": 0.032969340682029724
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18825,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.344078063964844,
                "transform": {
                    "location": {
                        "x": 495.02081298828125,
                        "y": 5073.158203125,
                        "z": 369.8535461425781
                    },
                    "rotation": {
                        "roll": -0.003326420672237873,
                        "pitch": -0.5359512567520142,
                        "yaw": 162.89036560058594
                    }
                },
                "velocity": {
                    "x": -7.973077297210693,
                    "y": 2.459685802459717,
                    "z": -0.0601964071393013
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18824,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.784235954284668,
                "transform": {
                    "location": {
                        "x": 479.26031494140625,
                        "y": 5078.10400390625,
                        "z": 369.7253112792969
                    },
                    "rotation": {
                        "roll": 9.17047364055179e-05,
                        "pitch": -0.23690509796142578,
                        "yaw": 162.8751678466797
                    }
                },
                "velocity": {
                    "x": -9.350095748901367,
                    "y": 2.881221294403076,
                    "z": -0.07445614039897919
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.6469252109527588,
                "transform": {
                    "location": {
                        "x": 453.22808837890625,
                        "y": 5085.9921875,
                        "z": 369.5213317871094
                    },
                    "rotation": {
                        "roll": -0.003143308451399207,
                        "pitch": -0.5424535870552063,
                        "yaw": 164.84634399414062
                    }
                },
                "velocity": {
                    "x": -1.5898524522781372,
                    "y": 0.4296526610851288,
                    "z": -0.011422395706176758
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 18822,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.297981262207031,
                "transform": {
                    "location": {
                        "x": 437.7252197265625,
                        "y": 5090.216796875,
                        "z": 369.4172058105469
                    },
                    "rotation": {
                        "roll": -0.004394534509629011,
                        "pitch": -0.481507807970047,
                        "yaw": 165.22006225585938
                    }
                },
                "velocity": {
                    "x": -8.021437644958496,
                    "y": 2.123767137527466,
                    "z": -0.05146085098385811
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18821,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.828546166419983,
                "transform": {
                    "location": {
                        "x": 498.7569885253906,
                        "y": 5075.40966796875,
                        "z": 369.8683776855469
                    },
                    "rotation": {
                        "roll": -0.002990721957758069,
                        "pitch": -0.3309294879436493,
                        "yaw": 163.1206512451172
                    }
                },
                "velocity": {
                    "x": -1.7481365203857422,
                    "y": 0.5361525416374207,
                    "z": -0.01183687150478363
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18820,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.212863922119141,
                "transform": {
                    "location": {
                        "x": 484.9453125,
                        "y": 5079.75732421875,
                        "z": 369.7559814453125
                    },
                    "rotation": {
                        "roll": -0.003540038364008069,
                        "pitch": -0.4003036916255951,
                        "yaw": 163.0690155029297
                    }
                },
                "velocity": {
                    "x": -4.984637260437012,
                    "y": 1.5251017808914185,
                    "z": -0.037486057728528976
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18819,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.241301536560059,
                "transform": {
                    "location": {
                        "x": 456.3005065917969,
                        "y": 5088.5283203125,
                        "z": 369.5299377441406
                    },
                    "rotation": {
                        "roll": -0.004455567337572575,
                        "pitch": -0.3828047513961792,
                        "yaw": 164.79434204101562
                    }
                },
                "velocity": {
                    "x": -5.05947208404541,
                    "y": 1.3680803775787354,
                    "z": -0.036636557430028915
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18818,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.80833625793457,
                "transform": {
                    "location": {
                        "x": 439.6984558105469,
                        "y": 5093.05615234375,
                        "z": 369.41455078125
                    },
                    "rotation": {
                        "roll": -0.0022277813404798508,
                        "pitch": -0.33953550457954407,
                        "yaw": 165.27963256835938
                    }
                },
                "velocity": {
                    "x": -6.5821661949157715,
                    "y": 1.7397215366363525,
                    "z": -0.043605245649814606
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.034916575998067856,
        "expert_target_speed": 6.291376157855992,
        "target_point": [
            47.839820517072965,
            1.8401435307988283
        ],
        "target_point_next": [
            99.63490748879289,
            5.1363100064723355
        ]
    },
    "55": {
        "acceleration": [
            -5.277462005615234,
            1.8576288223266602,
            -0.044548436999320984
        ],
        "angular_velocity": [
            0.27510207891464233,
            0.6082078218460083,
            -1.002569317817688
        ],
        "forward_vector": [
            -0.9503085613250732,
            0.31128689646720886,
            0.0037443547043949366
        ],
        "right_vector": [
            -0.31129148602485657,
            -0.9503141641616821,
            -0.0006910789525136352
        ],
        "location": [
            470.7526550292969,
            5084.310546875,
            369.643310546875
        ],
        "rotation": [
            0.03959619253873825,
            0.21453623473644257,
            161.86306762695312
        ],
        "velocity": [
            -6.818796157836914,
            2.2551956176757812,
            -0.05482091009616852
        ],
        "speed": 7.182053210337243,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.39286994934082,
        "front_vehicle_info": {
            "id": 18819,
            "type": "vehicle.chevrolet.impala",
            "location": [
                455.0093994140625,
                5088.8779296875,
                369.5204162597656
            ],
            "velocity": [
                -5.427889823913574,
                1.467829704284668,
                -0.040141139179468155
            ],
            "speed_kmh": 20.24279817291175,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 18827,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.178227424621582,
                "transform": {
                    "location": {
                        "x": 419.1057434082031,
                        "y": 5105.5,
                        "z": 369.27142333984375
                    },
                    "rotation": {
                        "roll": 0.0032643601298332214,
                        "pitch": 0.3484625816345215,
                        "yaw": -14.763750076293945
                    }
                },
                "velocity": {
                    "x": 6.939459800720215,
                    "y": -1.8355604410171509,
                    "z": 0.03952913358807564
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18826,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.7223992347717285,
                "transform": {
                    "location": {
                        "x": 418.9211120605469,
                        "y": 5102.1875,
                        "z": 369.27099609375
                    },
                    "rotation": {
                        "roll": 0.0025680074468255043,
                        "pitch": 0.4224949777126312,
                        "yaw": -14.821368217468262
                    }
                },
                "velocity": {
                    "x": 7.463677883148193,
                    "y": -1.981711745262146,
                    "z": 0.04224793240427971
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18825,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.320616722106934,
                "transform": {
                    "location": {
                        "x": 492.90478515625,
                        "y": 5073.8115234375,
                        "z": 369.8371276855469
                    },
                    "rotation": {
                        "roll": -0.007537825498729944,
                        "pitch": -0.5158363580703735,
                        "yaw": 162.8190155029297
                    }
                },
                "velocity": {
                    "x": -8.899436950683594,
                    "y": 2.7693612575531006,
                    "z": -0.0674118772149086
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18824,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.865191459655762,
                "transform": {
                    "location": {
                        "x": 476.7721252441406,
                        "y": 5078.8759765625,
                        "z": 369.7054138183594
                    },
                    "rotation": {
                        "roll": 0.007913918234407902,
                        "pitch": -0.25833138823509216,
                        "yaw": 162.7275390625
                    }
                },
                "velocity": {
                    "x": -10.37428092956543,
                    "y": 3.2279741764068604,
                    "z": -0.08293087780475616
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.2650840282440186,
                "transform": {
                    "location": {
                        "x": 452.6246643066406,
                        "y": 5086.1552734375,
                        "z": 369.5169372558594
                    },
                    "rotation": {
                        "roll": -0.0013732893858104944,
                        "pitch": -0.1737395077943802,
                        "yaw": 164.82298278808594
                    }
                },
                "velocity": {
                    "x": -3.1517601013183594,
                    "y": 0.8524527549743652,
                    "z": -0.022493800148367882
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 18822,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.03594970703125,
                "transform": {
                    "location": {
                        "x": 435.7366638183594,
                        "y": 5090.744140625,
                        "z": 369.4033508300781
                    },
                    "rotation": {
                        "roll": -0.0087890625,
                        "pitch": -0.3637348711490631,
                        "yaw": 165.14019775390625
                    }
                },
                "velocity": {
                    "x": -7.763044834136963,
                    "y": 2.0758209228515625,
                    "z": -0.05094131454825401
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18821,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.9666417837142944,
                "transform": {
                    "location": {
                        "x": 498.25201416015625,
                        "y": 5075.5654296875,
                        "z": 369.8645935058594
                    },
                    "rotation": {
                        "roll": 0.00048403331311419606,
                        "pitch": -0.3748202621936798,
                        "yaw": 162.95555114746094
                    }
                },
                "velocity": {
                    "x": -1.8793754577636719,
                    "y": 0.5791770815849304,
                    "z": -0.013487730175256729
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18820,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.449460506439209,
                "transform": {
                    "location": {
                        "x": 483.67388916015625,
                        "y": 5080.14697265625,
                        "z": 369.7461242675781
                    },
                    "rotation": {
                        "roll": -0.003540040459483862,
                        "pitch": -0.4194009006023407,
                        "yaw": 163.03091430664062
                    }
                },
                "velocity": {
                    "x": -5.208790302276611,
                    "y": 1.6010781526565552,
                    "z": -0.040885210037231445
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18819,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.622999668121338,
                "transform": {
                    "location": {
                        "x": 455.0093994140625,
                        "y": 5088.8779296875,
                        "z": 369.5204162597656
                    },
                    "rotation": {
                        "roll": -0.004364017862826586,
                        "pitch": -0.3958367705345154,
                        "yaw": 164.87403869628906
                    }
                },
                "velocity": {
                    "x": -5.427889823913574,
                    "y": 1.467829704284668,
                    "z": -0.040141139179468155
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18818,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.729776859283447,
                "transform": {
                    "location": {
                        "x": 437.9300537109375,
                        "y": 5093.5234375,
                        "z": 369.403076171875
                    },
                    "rotation": {
                        "roll": -0.0014038149965927005,
                        "pitch": -0.33852463960647583,
                        "yaw": 165.19561767578125
                    }
                },
                "velocity": {
                    "x": -7.472066402435303,
                    "y": 1.9787180423736572,
                    "z": -0.048490170389413834
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.06937089562416077,
        "expert_target_speed": 7.596183206553263,
        "target_point": [
            46.27592557511406,
            2.028928655676067
        ],
        "target_point_next": [
            98.05770672987188,
            5.5279125487730205
        ]
    },
    "60": {
        "acceleration": [
            -4.065952301025391,
            1.4990901947021484,
            -0.03038346767425537
        ],
        "angular_velocity": [
            -0.14292466640472412,
            -0.5879771113395691,
            -1.1692461967468262
        ],
        "forward_vector": [
            -0.9487996101379395,
            0.31584104895591736,
            0.004868369083851576
        ],
        "right_vector": [
            -0.3158491253852844,
            -0.9488089084625244,
            -0.0009690828737802804
        ],
        "location": [
            468.8538513183594,
            5084.94189453125,
            369.6277160644531
        ],
        "rotation": [
            0.055525027215480804,
            0.27893808484077454,
            161.5881805419922
        ],
        "velocity": [
            -8.252765655517578,
            2.7677578926086426,
            -0.06628196686506271
        ],
        "speed": 8.704517489039121,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.956881523132324,
        "front_vehicle_info": {
            "id": 18819,
            "type": "vehicle.chevrolet.impala",
            "location": [
                453.5000305175781,
                5089.28564453125,
                369.5090026855469
            ],
            "velocity": [
                -6.5630316734313965,
                1.7731187343597412,
                -0.0477304682135582
            ],
            "speed_kmh": 24.474602843620453,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 18827,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.060425758361816,
                "transform": {
                    "location": {
                        "x": 420.9324035644531,
                        "y": 5105.0166015625,
                        "z": 369.2820739746094
                    },
                    "rotation": {
                        "roll": 0.003917922265827656,
                        "pitch": 0.34780004620552063,
                        "yaw": -14.87303638458252
                    }
                },
                "velocity": {
                    "x": 7.788382530212402,
                    "y": -2.075946569442749,
                    "z": 0.0447947196662426
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18826,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.426042556762695,
                "transform": {
                    "location": {
                        "x": 420.92718505859375,
                        "y": 5101.65283203125,
                        "z": 369.2829284667969
                    },
                    "rotation": {
                        "roll": 0.004717344883829355,
                        "pitch": 0.38899973034858704,
                        "yaw": -14.947803497314453
                    }
                },
                "velocity": {
                    "x": 8.138428688049316,
                    "y": -2.182154893875122,
                    "z": 0.04871908202767372
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18825,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.166214942932129,
                "transform": {
                    "location": {
                        "x": 490.5752258300781,
                        "y": 5074.53662109375,
                        "z": 369.8191833496094
                    },
                    "rotation": {
                        "roll": -0.0022277841344475746,
                        "pitch": -0.511383056640625,
                        "yaw": 162.71214294433594
                    }
                },
                "velocity": {
                    "x": -9.7049560546875,
                    "y": 3.0265939235687256,
                    "z": -0.07407362759113312
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18824,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.942829132080078,
                "transform": {
                    "location": {
                        "x": 474.07330322265625,
                        "y": 5079.71728515625,
                        "z": 369.68389892578125
                    },
                    "rotation": {
                        "roll": 0.0032293060794472694,
                        "pitch": -0.25049033761024475,
                        "yaw": 162.67205810546875
                    }
                },
                "velocity": {
                    "x": -11.400997161865234,
                    "y": 3.5552783012390137,
                    "z": -0.09176749736070633
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.776083469390869,
                "transform": {
                    "location": {
                        "x": 451.6409606933594,
                        "y": 5086.42138671875,
                        "z": 369.50970458984375
                    },
                    "rotation": {
                        "roll": -0.0027771005406975746,
                        "pitch": -0.1093786433339119,
                        "yaw": 164.84552001953125
                    }
                },
                "velocity": {
                    "x": -4.610319137573242,
                    "y": 1.2469083070755005,
                    "z": -0.03391371667385101
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 18822,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.959929943084717,
                "transform": {
                    "location": {
                        "x": 433.818115234375,
                        "y": 5091.2568359375,
                        "z": 369.39056396484375
                    },
                    "rotation": {
                        "roll": -0.00296020763926208,
                        "pitch": -0.3474107086658478,
                        "yaw": 165.0417938232422
                    }
                },
                "velocity": {
                    "x": -7.688597679138184,
                    "y": 2.0599639415740967,
                    "z": -0.05000138655304909
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18821,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.9769871234893799,
                "transform": {
                    "location": {
                        "x": 497.8200378417969,
                        "y": 5075.69873046875,
                        "z": 369.86126708984375
                    },
                    "rotation": {
                        "roll": -0.00234985607676208,
                        "pitch": -0.401423841714859,
                        "yaw": 162.80206298828125
                    }
                },
                "velocity": {
                    "x": -1.889017939567566,
                    "y": 0.5829783082008362,
                    "z": -0.015024995431303978
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18820,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.9955315589904785,
                "transform": {
                    "location": {
                        "x": 482.71307373046875,
                        "y": 5080.44189453125,
                        "z": 369.7391357421875
                    },
                    "rotation": {
                        "roll": -0.0047607398591935635,
                        "pitch": -0.5228919386863708,
                        "yaw": 162.9814910888672
                    }
                },
                "velocity": {
                    "x": -1.9076911211013794,
                    "y": 0.5853400826454163,
                    "z": -0.015425882302224636
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18819,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.7985005378723145,
                "transform": {
                    "location": {
                        "x": 453.5000305175781,
                        "y": 5089.28564453125,
                        "z": 369.5090026855469
                    },
                    "rotation": {
                        "roll": -0.0010986363049596548,
                        "pitch": -0.3714871406555176,
                        "yaw": 164.87692260742188
                    }
                },
                "velocity": {
                    "x": -6.5630316734313965,
                    "y": 1.7731187343597412,
                    "z": -0.0477304682135582
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18818,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.295114517211914,
                "transform": {
                    "location": {
                        "x": 435.9737548828125,
                        "y": 5094.04296875,
                        "z": 369.3904113769531
                    },
                    "rotation": {
                        "roll": -0.0011901822872459888,
                        "pitch": -0.3472263216972351,
                        "yaw": 165.097412109375
                    }
                },
                "velocity": {
                    "x": -8.013894081115723,
                    "y": 2.140943765640259,
                    "z": -0.05282038450241089
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.2966162860393524,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.11540625244379044,
        "expert_target_speed": 8.683999253792685,
        "target_point": [
            44.26464590695984,
            2.2502147924883094
        ],
        "target_point_next": [
            96.02904500208508,
            5.997578420958568
        ]
    },
    "65": {
        "acceleration": [
            -7.493858337402344,
            2.283916473388672,
            -0.05370214581489563
        ],
        "angular_velocity": [
            0.07604341953992844,
            1.0313740968704224,
            0.9346030950546265
        ],
        "forward_vector": [
            -0.9487240314483643,
            0.31607696413993835,
            0.004255400970578194
        ],
        "right_vector": [
            -0.3160799443721771,
            -0.9487325549125671,
            -2.8389911676640622e-05
        ],
        "location": [
            466.6633605957031,
            5085.6728515625,
            369.6102294921875
        ],
        "rotation": [
            0.0016266368329524994,
            0.2438172549009323,
            161.57398986816406
        ],
        "velocity": [
            -9.656044960021973,
            3.200937032699585,
            -0.07692904025316238
        ],
        "speed": 10.172767674397827,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.469508171081543,
        "front_vehicle_info": {
            "id": 18819,
            "type": "vehicle.chevrolet.impala",
            "location": [
                451.7440490722656,
                5089.76025390625,
                369.4963684082031
            ],
            "velocity": [
                -7.206362247467041,
                1.9474092721939087,
                -0.052598413079977036
            ],
            "speed_kmh": 26.87414499020049,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 18827,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.47472858428955,
                "transform": {
                    "location": {
                        "x": 422.9969177246094,
                        "y": 5104.46533203125,
                        "z": 369.29443359375
                    },
                    "rotation": {
                        "roll": 0.002382715465500951,
                        "pitch": 0.3593088984489441,
                        "yaw": -15.011004447937012
                    }
                },
                "velocity": {
                    "x": 8.185650825500488,
                    "y": -2.1939451694488525,
                    "z": 0.05249723419547081
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18826,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.835069179534912,
                "transform": {
                    "location": {
                        "x": 422.8816833496094,
                        "y": 5101.12890625,
                        "z": 369.2953796386719
                    },
                    "rotation": {
                        "roll": 0.0025609079748392105,
                        "pitch": 0.33582672476768494,
                        "yaw": -15.018908500671387
                    }
                },
                "velocity": {
                    "x": 7.566838264465332,
                    "y": -2.0319762229919434,
                    "z": 0.0483313649892807
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18825,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.048141479492188,
                "transform": {
                    "location": {
                        "x": 488.0364074707031,
                        "y": 5075.3291015625,
                        "z": 369.7995910644531
                    },
                    "rotation": {
                        "roll": -0.004455571994185448,
                        "pitch": -0.507414698600769,
                        "yaw": 162.65943908691406
                    }
                },
                "velocity": {
                    "x": -10.54318904876709,
                    "y": 3.300908088684082,
                    "z": -0.081192746758461
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18824,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.162150382995605,
                "transform": {
                    "location": {
                        "x": 471.2901916503906,
                        "y": 5080.58544921875,
                        "z": 369.66131591796875
                    },
                    "rotation": {
                        "roll": -0.0011291623814031482,
                        "pitch": -0.4829694926738739,
                        "yaw": 162.66622924804688
                    }
                },
                "velocity": {
                    "x": -10.655675888061523,
                    "y": 3.3230769634246826,
                    "z": -0.08561744540929794
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.467835903167725,
                "transform": {
                    "location": {
                        "x": 450.3636169433594,
                        "y": 5086.7666015625,
                        "z": 369.500732421875
                    },
                    "rotation": {
                        "roll": -0.001068112556822598,
                        "pitch": -0.22695350646972656,
                        "yaw": 164.8978271484375
                    }
                },
                "velocity": {
                    "x": -5.278279781341553,
                    "y": 1.4267443418502808,
                    "z": -0.0373116135597229
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 18822,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.06555461883545,
                "transform": {
                    "location": {
                        "x": 431.87945556640625,
                        "y": 5091.7763671875,
                        "z": 369.3781433105469
                    },
                    "rotation": {
                        "roll": -0.001220705104060471,
                        "pitch": -0.3712480962276459,
                        "yaw": 165.01153564453125
                    }
                },
                "velocity": {
                    "x": -7.790585041046143,
                    "y": 2.087476968765259,
                    "z": -0.049014415591955185
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18821,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.998734951019287,
                "transform": {
                    "location": {
                        "x": 497.2279052734375,
                        "y": 5075.88134765625,
                        "z": 369.85699462890625
                    },
                    "rotation": {
                        "roll": -0.0010681143030524254,
                        "pitch": -0.28820663690567017,
                        "yaw": 162.78253173828125
                    }
                },
                "velocity": {
                    "x": -2.865290403366089,
                    "y": 0.8843324184417725,
                    "z": -0.021860875189304352
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18820,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.8787342309951782,
                "transform": {
                    "location": {
                        "x": 482.5520935058594,
                        "y": 5080.49072265625,
                        "z": 369.7376403808594
                    },
                    "rotation": {
                        "roll": -0.003448473522439599,
                        "pitch": -0.49499744176864624,
                        "yaw": 162.88015747070312
                    }
                },
                "velocity": {
                    "x": -0.8397525548934937,
                    "y": 0.2587432563304901,
                    "z": -0.006437234580516815
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18819,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.46504020690918,
                "transform": {
                    "location": {
                        "x": 451.7440490722656,
                        "y": 5089.76025390625,
                        "z": 369.4963684082031
                    },
                    "rotation": {
                        "roll": -0.0003967296506743878,
                        "pitch": -0.37314003705978394,
                        "yaw": 164.87353515625
                    }
                },
                "velocity": {
                    "x": -7.206362247467041,
                    "y": 1.9474092721939087,
                    "z": -0.052598413079977036
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18818,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.12081241607666,
                "transform": {
                    "location": {
                        "x": 433.9874572753906,
                        "y": 5094.57373046875,
                        "z": 369.3775329589844
                    },
                    "rotation": {
                        "roll": -0.0010986351408064365,
                        "pitch": -0.36279231309890747,
                        "yaw": 165.00894165039062
                    }
                },
                "velocity": {
                    "x": -7.843707084655762,
                    "y": 2.102642059326172,
                    "z": -0.05245699733495712
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.15027903020381927,
        "expert_target_speed": 9.547964003975208,
        "target_point": [
            41.95485586722177,
            2.262304114702385
        ],
        "target_point_next": [
            93.7183241923151,
            6.022502886103236
        ]
    },
    "70": {
        "acceleration": [
            -5.1811981201171875,
            1.4440631866455078,
            -0.061099082231521606
        ],
        "angular_velocity": [
            -0.24279823899269104,
            -0.268749862909317,
            1.2783055305480957
        ],
        "forward_vector": [
            -0.9503208994865417,
            0.3112352192401886,
            0.004788976162672043
        ],
        "right_vector": [
            -0.31123554706573486,
            -0.9503325819969177,
            0.0007030664128251374
        ],
        "location": [
            464.0538330078125,
            5086.53125,
            369.58929443359375
        ],
        "rotation": [
            -0.040283203125,
            0.2743891775608063,
            161.86610412597656
        ],
        "velocity": [
            -11.090664863586426,
            3.617180824279785,
            -0.0885116457939148
        ],
        "speed": 11.665626611199585,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.799400329589844,
        "front_vehicle_info": {
            "id": 18819,
            "type": "vehicle.chevrolet.impala",
            "location": [
                449.7429504394531,
                5090.30078125,
                369.48193359375
            ],
            "velocity": [
                -8.248418807983398,
                2.2283246517181396,
                -0.05713244155049324
            ],
            "speed_kmh": 30.75948952450115,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 18827,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.131580352783203,
                "transform": {
                    "location": {
                        "x": 424.9957580566406,
                        "y": 5103.9296875,
                        "z": 369.3072204589844
                    },
                    "rotation": {
                        "roll": 0.0011333482107147574,
                        "pitch": 0.3443303108215332,
                        "yaw": -15.073260307312012
                    }
                },
                "velocity": {
                    "x": 7.85262393951416,
                    "y": -2.1110260486602783,
                    "z": 0.04974016174674034
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18826,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.1023530960083,
                "transform": {
                    "location": {
                        "x": 424.79351806640625,
                        "y": 5100.615234375,
                        "z": 369.307373046875
                    },
                    "rotation": {
                        "roll": 0.0009426579927094281,
                        "pitch": 0.35996460914611816,
                        "yaw": -15.045430183410645
                    }
                },
                "velocity": {
                    "x": 7.823339462280273,
                    "y": -2.1073813438415527,
                    "z": 0.04924960806965828
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18825,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.437337875366211,
                "transform": {
                    "location": {
                        "x": 485.4299621582031,
                        "y": 5076.14501953125,
                        "z": 369.77838134765625
                    },
                    "rotation": {
                        "roll": -0.00042724396917037666,
                        "pitch": -0.3982887864112854,
                        "yaw": 162.6097412109375
                    }
                },
                "velocity": {
                    "x": -9.959989547729492,
                    "y": 3.1193578243255615,
                    "z": -0.0789867416024208
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18824,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.337252616882324,
                "transform": {
                    "location": {
                        "x": 468.82635498046875,
                        "y": 5081.3515625,
                        "z": 369.6413269042969
                    },
                    "rotation": {
                        "roll": -0.014129639603197575,
                        "pitch": -0.6840161085128784,
                        "yaw": 162.774169921875
                    }
                },
                "velocity": {
                    "x": -8.921427726745605,
                    "y": 2.7544960975646973,
                    "z": -0.07185414433479309
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.314512729644775,
                "transform": {
                    "location": {
                        "x": 448.9873352050781,
                        "y": 5087.138671875,
                        "z": 369.4908447265625
                    },
                    "rotation": {
                        "roll": -0.0019531217403709888,
                        "pitch": -0.24551112949848175,
                        "yaw": 164.9029998779297
                    }
                },
                "velocity": {
                    "x": -6.09612512588501,
                    "y": 1.6457258462905884,
                    "z": -0.04378971457481384
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 18822,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.061388969421387,
                "transform": {
                    "location": {
                        "x": 429.9305114746094,
                        "y": 5092.30029296875,
                        "z": 369.3655700683594
                    },
                    "rotation": {
                        "roll": -0.002563472604379058,
                        "pitch": -0.3478683531284332,
                        "yaw": 164.95870971679688
                    }
                },
                "velocity": {
                    "x": -7.783555507659912,
                    "y": 2.097583770751953,
                    "z": -0.04896360635757446
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18821,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.483415603637695,
                "transform": {
                    "location": {
                        "x": 496.3266296386719,
                        "y": 5076.15966796875,
                        "z": 369.8503723144531
                    },
                    "rotation": {
                        "roll": -0.004058838356286287,
                        "pitch": -0.20312298834323883,
                        "yaw": 162.8218994140625
                    }
                },
                "velocity": {
                    "x": -4.284040927886963,
                    "y": 1.321732759475708,
                    "z": -0.032126788049936295
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18820,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.4729220867156982,
                "transform": {
                    "location": {
                        "x": 482.2649841308594,
                        "y": 5080.5791015625,
                        "z": 369.73468017578125
                    },
                    "rotation": {
                        "roll": -0.0031433042604476213,
                        "pitch": -0.41729721426963806,
                        "yaw": 162.8717498779297
                    }
                },
                "velocity": {
                    "x": -1.4075323343276978,
                    "y": 0.4338685870170593,
                    "z": -0.01049979217350483
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18819,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.544302940368652,
                "transform": {
                    "location": {
                        "x": 449.7429504394531,
                        "y": 5090.30078125,
                        "z": 369.48193359375
                    },
                    "rotation": {
                        "roll": 0.0016657178057357669,
                        "pitch": -0.35601675510406494,
                        "yaw": 164.87120056152344
                    }
                },
                "velocity": {
                    "x": -8.248418807983398,
                    "y": 2.2283246517181396,
                    "z": -0.05713244155049324
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18818,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.045417785644531,
                "transform": {
                    "location": {
                        "x": 432.0395202636719,
                        "y": 5095.0966796875,
                        "z": 369.3648376464844
                    },
                    "rotation": {
                        "roll": 0.0005363804521039128,
                        "pitch": -0.3594045341014862,
                        "yaw": 164.97215270996094
                    }
                },
                "velocity": {
                    "x": -7.769397258758545,
                    "y": 2.088730573654175,
                    "z": -0.04927808791399002
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.17244914174079895,
        "expert_target_speed": 10.0,
        "target_point": [
            39.21876077002623,
            2.051953583458154
        ],
        "target_point_next": [
            91.0007270497059,
            5.548196717666883
        ]
    },
    "75": {
        "acceleration": [
            -0.5030059814453125,
            -0.477294921875,
            0.01351088285446167
        ],
        "angular_velocity": [
            -0.8239675164222717,
            -1.35561203956604,
            2.929598093032837
        ],
        "forward_vector": [
            -0.953322172164917,
            0.3019496202468872,
            0.0017884960398077965
        ],
        "right_vector": [
            -0.3019455373287201,
            -0.9533225297927856,
            0.002232256345450878
        ],
        "location": [
            461.14666748046875,
            5087.4638671875,
            369.5669860839844
        ],
        "rotation": [
            -0.127899169921875,
            0.10247332602739334,
            162.42523193359375
        ],
        "velocity": [
            -11.909342765808105,
            3.7417144775390625,
            -0.09187494218349457
        ],
        "speed": 12.483303743197602,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 13.794112205505371,
        "front_vehicle_info": {
            "id": 18819,
            "type": "vehicle.chevrolet.impala",
            "location": [
                447.77056884765625,
                5090.83251953125,
                369.468505859375
            ],
            "velocity": [
                -7.654205799102783,
                2.071876049041748,
                -0.05306401476264
            ],
            "speed_kmh": 28.547421762251563,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 18835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 385.9269714355469,
                        "y": 5114.015625,
                        "z": 369.1678161621094
                    },
                    "rotation": {
                        "roll": 3.3350655570529852e-09,
                        "pitch": 0.15457400679588318,
                        "yaw": -12.93425464630127
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 18834,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 386.8037414550781,
                        "y": 5110.4736328125,
                        "z": 369.35272216796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1629956215620041,
                        "yaw": -13.507221221923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 18827,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.92044734954834,
                "transform": {
                    "location": {
                        "x": 426.9275817871094,
                        "y": 5103.40966796875,
                        "z": 369.3194580078125
                    },
                    "rotation": {
                        "roll": 0.0006918025319464505,
                        "pitch": 0.3439546525478363,
                        "yaw": -15.09678840637207
                    }
                },
                "velocity": {
                    "x": 7.647568702697754,
                    "y": -2.060527801513672,
                    "z": 0.04905135929584503
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18826,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.06345272064209,
                "transform": {
                    "location": {
                        "x": 426.7569580078125,
                        "y": 5100.08642578125,
                        "z": 369.3197937011719
                    },
                    "rotation": {
                        "roll": 0.001394355669617653,
                        "pitch": 0.3544867932796478,
                        "yaw": -15.07634449005127
                    }
                },
                "velocity": {
                    "x": 7.785757064819336,
                    "y": -2.097355842590332,
                    "z": 0.04848841577768326
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18825,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.083409309387207,
                "transform": {
                    "location": {
                        "x": 483.1131896972656,
                        "y": 5076.87109375,
                        "z": 369.75927734375
                    },
                    "rotation": {
                        "roll": -0.0010070770513266325,
                        "pitch": -0.3060607612133026,
                        "yaw": 162.59242248535156
                    }
                },
                "velocity": {
                    "x": -8.666390419006348,
                    "y": 2.7198073863983154,
                    "z": -0.06824076175689697
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18824,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.782682418823242,
                "transform": {
                    "location": {
                        "x": 466.70794677734375,
                        "y": 5082.0029296875,
                        "z": 369.62445068359375
                    },
                    "rotation": {
                        "roll": -0.011444095522165298,
                        "pitch": -0.5709218382835388,
                        "yaw": 162.94552612304688
                    }
                },
                "velocity": {
                    "x": -8.397488594055176,
                    "y": 2.571563720703125,
                    "z": -0.06900710612535477
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.451404571533203,
                "transform": {
                    "location": {
                        "x": 447.1497802734375,
                        "y": 5087.634765625,
                        "z": 369.4779357910156
                    },
                    "rotation": {
                        "roll": -0.0005187987699173391,
                        "pitch": -0.011563509702682495,
                        "yaw": 164.8937530517578
                    }
                },
                "velocity": {
                    "x": -8.159218788146973,
                    "y": 2.2023096084594727,
                    "z": -0.05678974464535713
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 18822,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.990622043609619,
                "transform": {
                    "location": {
                        "x": 427.995849609375,
                        "y": 5092.8212890625,
                        "z": 369.3533020019531
                    },
                    "rotation": {
                        "roll": -0.001281737582758069,
                        "pitch": -0.34625643491744995,
                        "yaw": 164.9303741455078
                    }
                },
                "velocity": {
                    "x": -7.71563196182251,
                    "y": 2.07767653465271,
                    "z": -0.0482928492128849
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18821,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.398966312408447,
                "transform": {
                    "location": {
                        "x": 495.10406494140625,
                        "y": 5076.53662109375,
                        "z": 369.8414001464844
                    },
                    "rotation": {
                        "roll": -0.0020141585264354944,
                        "pitch": -0.25417181849479675,
                        "yaw": 162.82958984375
                    }
                },
                "velocity": {
                    "x": -5.158963680267334,
                    "y": 1.5913606882095337,
                    "z": -0.03876825422048569
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18820,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.0430355072021484,
                "transform": {
                    "location": {
                        "x": 481.83746337890625,
                        "y": 5080.7109375,
                        "z": 369.7312927246094
                    },
                    "rotation": {
                        "roll": -0.00363159435801208,
                        "pitch": -0.41433292627334595,
                        "yaw": 162.90716552734375
                    }
                },
                "velocity": {
                    "x": -1.9522472620010376,
                    "y": 0.6020713448524475,
                    "z": -0.015337152406573296
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18819,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.929839611053467,
                "transform": {
                    "location": {
                        "x": 447.77056884765625,
                        "y": 5090.83251953125,
                        "z": 369.468505859375
                    },
                    "rotation": {
                        "roll": 0.0019270462216809392,
                        "pitch": -0.39553624391555786,
                        "yaw": 164.70155334472656
                    }
                },
                "velocity": {
                    "x": -7.654205799102783,
                    "y": 2.071876049041748,
                    "z": -0.05306401476264
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18818,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.034439086914062,
                "transform": {
                    "location": {
                        "x": 430.0998229980469,
                        "y": 5095.6181640625,
                        "z": 369.3524475097656
                    },
                    "rotation": {
                        "roll": -0.0005493200733326375,
                        "pitch": -0.34909096360206604,
                        "yaw": 164.92869567871094
                    }
                },
                "velocity": {
                    "x": -7.757296085357666,
                    "y": 2.091452121734619,
                    "z": -0.04882858321070671
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.19371113181114197,
        "expert_target_speed": 10.0,
        "target_point": [
            36.1838441030504,
            1.680397177748949
        ],
        "target_point_next": [
            87.99746373822389,
            4.671144265843893
        ]
    },
    "80": {
        "acceleration": [
            2.3895263671875,
            -1.510610580444336,
            0.017572790384292603
        ],
        "angular_velocity": [
            -0.7162904143333435,
            -1.3625733852386475,
            3.8641998767852783
        ],
        "forward_vector": [
            -0.9573969841003418,
            0.2887091040611267,
            -0.006180603988468647
        ],
        "right_vector": [
            -0.28873372077941895,
            -0.9574028849601746,
            0.0035350052639842033
        ],
        "location": [
            458.2222900390625,
            5088.36279296875,
            369.54632568359375
        ],
        "rotation": [
            -0.2025451809167862,
            -0.3541247844696045,
            163.21897888183594
        ],
        "velocity": [
            -11.46113395690918,
            3.424931764602661,
            -0.08727765828371048
        ],
        "speed": 11.961929157556526,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 12.719547271728516,
        "front_vehicle_info": {
            "id": 18819,
            "type": "vehicle.chevrolet.impala",
            "location": [
                445.8587341308594,
                5091.349609375,
                369.4552001953125
            ],
            "velocity": [
                -7.683195114135742,
                2.0832531452178955,
                -0.05302448943257332
            ],
            "speed_kmh": 28.658858697328345,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 18835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 387.9549865722656,
                        "y": 5113.53955078125,
                        "z": 369.16156005859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1629956215620041,
                        "yaw": -13.507221221923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 18834,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 388.827880859375,
                        "y": 5109.99658203125,
                        "z": 369.2286376953125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1629956215620041,
                        "yaw": -13.507221221923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 18827,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.981045722961426,
                "transform": {
                    "location": {
                        "x": 428.84423828125,
                        "y": 5102.89306640625,
                        "z": 369.33154296875
                    },
                    "rotation": {
                        "roll": 0.000574100180529058,
                        "pitch": 0.3509214520454407,
                        "yaw": -15.113086700439453
                    }
                },
                "velocity": {
                    "x": 7.704880237579346,
                    "y": -2.080737352371216,
                    "z": 0.04945763573050499
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18826,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.010417938232422,
                "transform": {
                    "location": {
                        "x": 428.6899108886719,
                        "y": 5099.5654296875,
                        "z": 369.3321533203125
                    },
                    "rotation": {
                        "roll": 1.8446517060510814e-05,
                        "pitch": 0.3470555543899536,
                        "yaw": -15.087912559509277
                    }
                },
                "velocity": {
                    "x": 7.734146595001221,
                    "y": -2.085029363632202,
                    "z": 0.049295663833618164
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18825,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.983734130859375,
                "transform": {
                    "location": {
                        "x": 481.15362548828125,
                        "y": 5077.486328125,
                        "z": 369.7431640625
                    },
                    "rotation": {
                        "roll": -0.0002441411779727787,
                        "pitch": -0.2297060787677765,
                        "yaw": 162.60073852539062
                    }
                },
                "velocity": {
                    "x": -6.6628007888793945,
                    "y": 2.0920841693878174,
                    "z": -0.05302354320883751
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18824,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.409024238586426,
                "transform": {
                    "location": {
                        "x": 464.5198669433594,
                        "y": 5082.66845703125,
                        "z": 369.6071472167969
                    },
                    "rotation": {
                        "roll": -0.020935053005814552,
                        "pitch": -0.39230555295944214,
                        "yaw": 163.1656951904297
                    }
                },
                "velocity": {
                    "x": -9.009146690368652,
                    "y": 2.7129130363464355,
                    "z": -0.0715329647064209
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18823,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.033000946044922,
                "transform": {
                    "location": {
                        "x": 445.14508056640625,
                        "y": 5088.17626953125,
                        "z": 369.4638977050781
                    },
                    "rotation": {
                        "roll": 0.001193304662592709,
                        "pitch": -0.35297051072120667,
                        "yaw": 164.875
                    }
                },
                "velocity": {
                    "x": -7.75454568862915,
                    "y": 2.095968008041382,
                    "z": -0.055166106671094894
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 18822,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.077089309692383,
                "transform": {
                    "location": {
                        "x": 426.0552673339844,
                        "y": 5093.34423828125,
                        "z": 369.34112548828125
                    },
                    "rotation": {
                        "roll": -0.0016479474725201726,
                        "pitch": -0.35168641805648804,
                        "yaw": 164.9099578857422
                    }
                },
                "velocity": {
                    "x": -7.797444820404053,
                    "y": 2.106381893157959,
                    "z": -0.04876858741044998
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18821,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.964905261993408,
                "transform": {
                    "location": {
                        "x": 493.78619384765625,
                        "y": 5076.9443359375,
                        "z": 369.8312072753906
                    },
                    "rotation": {
                        "roll": -0.0026855480391532183,
                        "pitch": -0.324891597032547,
                        "yaw": 162.89364624023438
                    }
                },
                "velocity": {
                    "x": -5.698049068450928,
                    "y": 1.7636345624923706,
                    "z": -0.04385156184434891
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18820,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.5831968784332275,
                "transform": {
                    "location": {
                        "x": 481.283203125,
                        "y": 5080.8818359375,
                        "z": 369.7268981933594
                    },
                    "rotation": {
                        "roll": -0.003143304493278265,
                        "pitch": -0.41757041215896606,
                        "yaw": 162.89645385742188
                    }
                },
                "velocity": {
                    "x": -2.468395948410034,
                    "y": 0.7612980008125305,
                    "z": -0.018788490444421768
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18819,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.960793972015381,
                "transform": {
                    "location": {
                        "x": 445.8587341308594,
                        "y": 5091.349609375,
                        "z": 369.4552001953125
                    },
                    "rotation": {
                        "roll": 0.0035777173470705748,
                        "pitch": -0.38943004608154297,
                        "yaw": 164.58132934570312
                    }
                },
                "velocity": {
                    "x": -7.683195114135742,
                    "y": 2.0832531452178955,
                    "z": -0.05302448943257332
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18818,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.091734886169434,
                "transform": {
                    "location": {
                        "x": 428.15252685546875,
                        "y": 5096.1435546875,
                        "z": 369.34014892578125
                    },
                    "rotation": {
                        "roll": -0.0002441404212731868,
                        "pitch": -0.34874942898750305,
                        "yaw": 164.90719604492188
                    }
                },
                "velocity": {
                    "x": -7.812251567840576,
                    "y": 2.107717275619507,
                    "z": -0.04920275881886482
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.20509059727191925,
        "expert_target_speed": 9.93476019974146,
        "target_point": [
            33.14427367063654,
            1.1953296856493782
        ],
        "target_point_next": [
            84.99435138367198,
            3.468034900931247
        ]
    },
    "85": {
        "acceleration": [
            2.416095733642578,
            -1.6347169876098633,
            0.04254475235939026
        ],
        "angular_velocity": [
            -0.38188955187797546,
            -0.4912097752094269,
            3.2224934101104736
        ],
        "forward_vector": [
            -0.9625203013420105,
            0.27100875973701477,
            -0.010436106473207474
        ],
        "right_vector": [
            -0.27107030153274536,
            -0.9625466465950012,
            0.004991535563021898
        ],
        "location": [
            455.43853759765625,
            5089.16796875,
            369.5262145996094
        ],
        "rotation": [
            -0.2860107123851776,
            -0.5979557037353516,
            164.2748260498047
        ],
        "velocity": [
            -10.857198715209961,
            3.0121219158172607,
            -0.08055351674556732
        ],
        "speed": 11.26728194274482,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 18838,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 6.152626037597656,
                "transform": {
                    "location": {
                        "x": 323.990234375,
                        "y": 5126.3662109375,
                        "z": 369.207763671875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.08923641592264175,
                        "yaw": -5.682834625244141
                    }
                },
                "velocity": {
                    "x": 5.796960353851318,
                    "y": -1.4659862518310547,
                    "z": -1.4494624137878418
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 18837,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 6.156110763549805,
                "transform": {
                    "location": {
                        "x": 387.99652099609375,
                        "y": 5115.828125,
                        "z": 369.22662353515625
                    },
                    "rotation": {
                        "roll": -1.6675327785264926e-09,
                        "pitch": 0.15457400679588318,
                        "yaw": -13.016742706298828
                    }
                },
                "velocity": {
                    "x": 5.801084995269775,
                    "y": -1.4642226696014404,
                    "z": -1.4495402574539185
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 18836,
                "type": "vehicle.bh.crossbike",
                "speed_kmh": 4.568935394287109,
                "transform": {
                    "location": {
                        "x": 350.1304626464844,
                        "y": 5123.1474609375,
                        "z": 369.18060302734375
                    },
                    "rotation": {
                        "roll": 0.047234103083610535,
                        "pitch": 1.3597676753997803,
                        "yaw": -8.66346263885498
                    }
                },
                "velocity": {
                    "x": 4.408746719360352,
                    "y": -0.7652748823165894,
                    "z": -0.9232960343360901
                },
                "bounding_box_extent": {
                    "x": 0.7546613812446594,
                    "y": 0.4329703152179718,
                    "z": 0.8061768412590027
                }
            },
            {
                "id": 18835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 389.98291015625,
                        "y": 5113.06298828125,
                        "z": 369.15533447265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1629956215620041,
                        "yaw": -13.507221221923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 18834,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.097762107849121,
                "transform": {
                    "location": {
                        "x": 390.69744873046875,
                        "y": 5109.5556640625,
                        "z": 369.1300354003906
                    },
                    "rotation": {
                        "roll": 0.002011463977396488,
                        "pitch": 0.11538238078355789,
                        "yaw": -13.500750541687012
                    }
                },
                "velocity": {
                    "x": 5.931819438934326,
                    "y": -1.411815881729126,
                    "z": -0.05470874160528183
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 18827,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.00521183013916,
                "transform": {
                    "location": {
                        "x": 430.7746276855469,
                        "y": 5102.37158203125,
                        "z": 369.34375
                    },
                    "rotation": {
                        "roll": -0.0007934608729556203,
                        "pitch": 0.35284072160720825,
                        "yaw": -15.122454643249512
                    }
                },
                "velocity": {
                    "x": 7.727865219116211,
                    "y": -2.0883400440216064,
                    "z": 0.04846171289682388
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18826,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.054643630981445,
                "transform": {
                    "location": {
                        "x": 430.63018798828125,
                        "y": 5099.0419921875,
                        "z": 369.3443603515625
                    },
                    "rotation": {
                        "roll": -0.0007324184407480061,
                        "pitch": 0.35505369305610657,
                        "yaw": -15.102251052856445
                    }
                },
                "velocity": {
                    "x": 7.775777816772461,
                    "y": -2.100529670715332,
                    "z": 0.048346489667892456
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18825,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.674790382385254,
                "transform": {
                    "location": {
                        "x": 479.5562744140625,
                        "y": 5077.98779296875,
                        "z": 369.7315673828125
                    },
                    "rotation": {
                        "roll": -0.0008544912561774254,
                        "pitch": -0.36477306485176086,
                        "yaw": 162.55482482910156
                    }
                },
                "velocity": {
                    "x": -6.367238521575928,
                    "y": 2.002102851867676,
                    "z": -0.05184239149093628
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18824,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.498359680175781,
                "transform": {
                    "location": {
                        "x": 462.3704528808594,
                        "y": 5083.31103515625,
                        "z": 369.5898742675781
                    },
                    "rotation": {
                        "roll": -0.01736450009047985,
                        "pitch": -0.5308490991592407,
                        "yaw": 163.39935302734375
                    }
                },
                "velocity": {
                    "x": -8.144933700561523,
                    "y": 2.424471139907837,
                    "z": -0.06414888054132462
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18821,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.2606940269470215,
                "transform": {
                    "location": {
                        "x": 492.5439758300781,
                        "y": 5077.33154296875,
                        "z": 369.82086181640625
                    },
                    "rotation": {
                        "roll": 0.012776732444763184,
                        "pitch": -0.7112412452697754,
                        "yaw": 163.80528259277344
                    }
                },
                "velocity": {
                    "x": -3.0948426723480225,
                    "y": 1.0263437032699585,
                    "z": -0.026305660605430603
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18820,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.178072214126587,
                "transform": {
                    "location": {
                        "x": 480.5936279296875,
                        "y": 5081.09423828125,
                        "z": 369.7214660644531
                    },
                    "rotation": {
                        "roll": -0.0023193310480564833,
                        "pitch": -0.4176318943500519,
                        "yaw": 162.88397216796875
                    }
                },
                "velocity": {
                    "x": -3.0368635654449463,
                    "y": 0.9365092515945435,
                    "z": -0.02354837767779827
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.18711726367473602,
        "expert_target_speed": 10.0,
        "target_point": [
            30.262886822129456,
            0.6049475808067024
        ],
        "target_point_next": [
            82.1460403398303,
            1.9218108622719967
        ]
    },
    "90": {
        "acceleration": [
            8.808097839355469,
            -2.978549003601074,
            0.06533756852149963
        ],
        "angular_velocity": [
            -0.4144444763660431,
            -2.192697048187256,
            4.672914028167725
        ],
        "forward_vector": [
            -0.9678299427032471,
            0.25127312541007996,
            -0.012924429960548878
        ],
        "right_vector": [
            -0.2513572871685028,
            -0.9678796529769897,
            0.005337035283446312
        ],
        "location": [
            452.79705810546875,
            5089.8759765625,
            369.50732421875
        ],
        "rotation": [
            -0.30581656098365784,
            -0.7405359148979187,
            165.44589233398438
        ],
        "velocity": [
            -9.878544807434082,
            2.536463499069214,
            -0.0724460557103157
        ],
        "speed": 10.198984978643379,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 18838,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.5223308205604553,
                "transform": {
                    "location": {
                        "x": 324.4862365722656,
                        "y": 5126.24755859375,
                        "z": 369.0924072265625
                    },
                    "rotation": {
                        "roll": 2.2548766136169434,
                        "pitch": 2.5123960971832275,
                        "yaw": -6.54138708114624
                    }
                },
                "velocity": {
                    "x": 0.5030166506767273,
                    "y": -0.13602882623672485,
                    "z": 0.03605417162179947
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 18837,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 1.6416462659835815,
                "transform": {
                    "location": {
                        "x": 388.5989685058594,
                        "y": 5115.67919921875,
                        "z": 369.1058654785156
                    },
                    "rotation": {
                        "roll": 0.33043038845062256,
                        "pitch": 1.8436250686645508,
                        "yaw": -13.145191192626953
                    }
                },
                "velocity": {
                    "x": 1.5934118032455444,
                    "y": -0.3872220516204834,
                    "z": 0.07810497283935547
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 18836,
                "type": "vehicle.bh.crossbike",
                "speed_kmh": 4.044970512390137,
                "transform": {
                    "location": {
                        "x": 351.1265869140625,
                        "y": 5122.984375,
                        "z": 369.0460510253906
                    },
                    "rotation": {
                        "roll": 0.4873185455799103,
                        "pitch": 0.6725345253944397,
                        "yaw": -8.932169914245605
                    }
                },
                "velocity": {
                    "x": 3.9928653240203857,
                    "y": -0.6305878758430481,
                    "z": -0.14550861716270447
                },
                "bounding_box_extent": {
                    "x": 0.7546613812446594,
                    "y": 0.4329703152179718,
                    "z": 0.8061768412590027
                }
            },
            {
                "id": 18835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.024669647216797,
                "transform": {
                    "location": {
                        "x": 391.9645690917969,
                        "y": 5112.60009765625,
                        "z": 369.15740966796875
                    },
                    "rotation": {
                        "roll": 0.011441759765148163,
                        "pitch": 0.13023121654987335,
                        "yaw": -13.261129379272461
                    }
                },
                "velocity": {
                    "x": 7.809259414672852,
                    "y": -1.8465557098388672,
                    "z": 0.0318133719265461
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 18834,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.344747543334961,
                "transform": {
                    "location": {
                        "x": 392.21514892578125,
                        "y": 5109.1923828125,
                        "z": 369.1478576660156
                    },
                    "rotation": {
                        "roll": 0.0017657624557614326,
                        "pitch": 0.1605026125907898,
                        "yaw": -13.520620346069336
                    }
                },
                "velocity": {
                    "x": 6.1685919761657715,
                    "y": -1.4826723337173462,
                    "z": 0.07731370627880096
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 18827,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.033638000488281,
                "transform": {
                    "location": {
                        "x": 432.7109680175781,
                        "y": 5101.84814453125,
                        "z": 369.3560791015625
                    },
                    "rotation": {
                        "roll": 0.00010707723413361236,
                        "pitch": 0.3517342209815979,
                        "yaw": -15.12993049621582
                    }
                },
                "velocity": {
                    "x": 7.755129814147949,
                    "y": -2.096397638320923,
                    "z": 0.0491347573697567
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18826,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.059571266174316,
                "transform": {
                    "location": {
                        "x": 432.57611083984375,
                        "y": 5098.5166015625,
                        "z": 369.3568420410156
                    },
                    "rotation": {
                        "roll": -0.00045776143088005483,
                        "pitch": 0.35256069898605347,
                        "yaw": -15.115740776062012
                    }
                },
                "velocity": {
                    "x": 7.780588150024414,
                    "y": -2.1015944480895996,
                    "z": 0.049416683614254
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18825,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.187405109405518,
                "transform": {
                    "location": {
                        "x": 477.8988952636719,
                        "y": 5078.5087890625,
                        "z": 369.7190856933594
                    },
                    "rotation": {
                        "roll": -0.0021667517721652985,
                        "pitch": -0.4748210608959198,
                        "yaw": 162.5879669189453
                    }
                },
                "velocity": {
                    "x": -6.85746955871582,
                    "y": 2.151992082595825,
                    "z": -0.05329069495201111
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18824,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.077314853668213,
                "transform": {
                    "location": {
                        "x": 460.50872802734375,
                        "y": 5083.86328125,
                        "z": 369.57513427734375
                    },
                    "rotation": {
                        "roll": -0.007385253440588713,
                        "pitch": -0.6246617436408997,
                        "yaw": 163.5126953125
                    }
                },
                "velocity": {
                    "x": -6.78591251373291,
                    "y": 2.0092146396636963,
                    "z": -0.0532698780298233
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18821,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.2715410888195038,
                "transform": {
                    "location": {
                        "x": 492.3359375,
                        "y": 5077.40234375,
                        "z": 369.8190612792969
                    },
                    "rotation": {
                        "roll": -0.05242917686700821,
                        "pitch": -0.8796736598014832,
                        "yaw": 164.51283264160156
                    }
                },
                "velocity": {
                    "x": -0.260497123003006,
                    "y": 0.07664984464645386,
                    "z": -0.0007835387950763106
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18820,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.914818048477173,
                "transform": {
                    "location": {
                        "x": 479.7479248046875,
                        "y": 5081.3564453125,
                        "z": 369.7147216796875
                    },
                    "rotation": {
                        "roll": -0.0014953567879274487,
                        "pitch": -0.4139435887336731,
                        "yaw": 162.82167053222656
                    }
                },
                "velocity": {
                    "x": -3.7377889156341553,
                    "y": 1.163547158241272,
                    "z": -0.029872503131628036
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.33162346482276917,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.15360094606876373,
        "expert_target_speed": 10.0,
        "target_point": [
            27.534294853317896,
            0.00783172896746187
        ],
        "target_point_next": [
            79.43352499438973,
            0.26407108473938123
        ]
    },
    "95": {
        "acceleration": [
            3.7484169006347656,
            -0.7124710083007812,
            0.029170438647270203
        ],
        "angular_velocity": [
            0.7518060207366943,
            0.12805265188217163,
            -2.3937339782714844
        ],
        "forward_vector": [
            -0.9698358774185181,
            0.24318525195121765,
            -0.016712602227926254
        ],
        "right_vector": [
            -0.24326735734939575,
            -0.9699544906616211,
            0.0030393030028790236
        ],
        "location": [
            450.52764892578125,
            5090.45166015625,
            369.4919738769531
        ],
        "rotation": [
            -0.174163818359375,
            -0.9576061367988586,
            165.9233856201172
        ],
        "velocity": [
            -8.526744842529297,
            2.14579176902771,
            -0.05971425771713257
        ],
        "speed": 8.792599156428492,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 18838,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.6560220718383789,
                "transform": {
                    "location": {
                        "x": 324.61639404296875,
                        "y": 5126.22509765625,
                        "z": 369.1000671386719
                    },
                    "rotation": {
                        "roll": 0.30801230669021606,
                        "pitch": 0.1675650179386139,
                        "yaw": -7.438361644744873
                    }
                },
                "velocity": {
                    "x": 0.6440267562866211,
                    "y": -0.12292265892028809,
                    "z": 0.022012365981936455
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 18837,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 1.6101605892181396,
                "transform": {
                    "location": {
                        "x": 388.9871520996094,
                        "y": 5115.58642578125,
                        "z": 369.1285095214844
                    },
                    "rotation": {
                        "roll": 0.001595580717548728,
                        "pitch": 0.6129684448242188,
                        "yaw": -13.308736801147461
                    }
                },
                "velocity": {
                    "x": 1.5640956163406372,
                    "y": -0.37742576003074646,
                    "z": 0.061416614800691605
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 18836,
                "type": "vehicle.bh.crossbike",
                "speed_kmh": 3.8296310901641846,
                "transform": {
                    "location": {
                        "x": 352.09393310546875,
                        "y": 5122.83154296875,
                        "z": 369.0616455078125
                    },
                    "rotation": {
                        "roll": -0.0791625902056694,
                        "pitch": 0.055263057351112366,
                        "yaw": -9.112865447998047
                    }
                },
                "velocity": {
                    "x": 3.7773666381835938,
                    "y": -0.6143039464950562,
                    "z": 0.14215253293514252
                },
                "bounding_box_extent": {
                    "x": 0.7546613812446594,
                    "y": 0.4329703152179718,
                    "z": 0.8061768412590027
                }
            },
            {
                "id": 18835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.231870651245117,
                "transform": {
                    "location": {
                        "x": 393.9429931640625,
                        "y": 5112.12841796875,
                        "z": 369.1662292480469
                    },
                    "rotation": {
                        "roll": 0.032723769545555115,
                        "pitch": 0.18057653307914734,
                        "yaw": -13.422382354736328
                    }
                },
                "velocity": {
                    "x": 8.003620147705078,
                    "y": -1.9247260093688965,
                    "z": 0.03445763513445854
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 18834,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.086523056030273,
                "transform": {
                    "location": {
                        "x": 393.7252197265625,
                        "y": 5108.8291015625,
                        "z": 369.1588439941406
                    },
                    "rotation": {
                        "roll": 0.001917452085763216,
                        "pitch": 0.18580162525177002,
                        "yaw": -13.529560089111328
                    }
                },
                "velocity": {
                    "x": 5.9175872802734375,
                    "y": -1.423830509185791,
                    "z": 0.02518385834991932
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 18827,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.985294342041016,
                "transform": {
                    "location": {
                        "x": 434.6434326171875,
                        "y": 5101.32568359375,
                        "z": 369.3684997558594
                    },
                    "rotation": {
                        "roll": 0.0005082887364551425,
                        "pitch": 0.3586258888244629,
                        "yaw": -15.131641387939453
                    }
                },
                "velocity": {
                    "x": 7.708350658416748,
                    "y": -2.0841891765594482,
                    "z": 0.04906200245022774
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18826,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.012502670288086,
                "transform": {
                    "location": {
                        "x": 434.5135192871094,
                        "y": 5097.9931640625,
                        "z": 369.3692932128906
                    },
                    "rotation": {
                        "roll": -0.0005493175704032183,
                        "pitch": 0.362478107213974,
                        "yaw": -15.116443634033203
                    }
                },
                "velocity": {
                    "x": 7.735114097595215,
                    "y": -2.089454174041748,
                    "z": 0.04889490827918053
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18825,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.772876739501953,
                "transform": {
                    "location": {
                        "x": 476.0047302246094,
                        "y": 5079.103515625,
                        "z": 369.7049865722656
                    },
                    "rotation": {
                        "roll": -0.0004882908542640507,
                        "pitch": -0.5883182883262634,
                        "yaw": 162.58026123046875
                    }
                },
                "velocity": {
                    "x": -8.369331359863281,
                    "y": 2.629298448562622,
                    "z": -0.06670869886875153
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18824,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.3372037410736084,
                "transform": {
                    "location": {
                        "x": 459.2899169921875,
                        "y": 5084.21923828125,
                        "z": 369.5648498535156
                    },
                    "rotation": {
                        "roll": -0.009338390082120895,
                        "pitch": -1.0390561819076538,
                        "yaw": 163.84750366210938
                    }
                },
                "velocity": {
                    "x": -2.2434213161468506,
                    "y": 0.6551669836044312,
                    "z": -0.018393712118268013
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18821,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.323630452156067,
                "transform": {
                    "location": {
                        "x": 492.1240539550781,
                        "y": 5077.4658203125,
                        "z": 369.818115234375
                    },
                    "rotation": {
                        "roll": -0.015228276140987873,
                        "pitch": -0.40423789620399475,
                        "yaw": 164.30931091308594
                    }
                },
                "velocity": {
                    "x": -1.267719030380249,
                    "y": 0.38052040338516235,
                    "z": -0.009497670456767082
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18820,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.856579780578613,
                "transform": {
                    "location": {
                        "x": 478.69940185546875,
                        "y": 5081.6826171875,
                        "z": 369.7062683105469
                    },
                    "rotation": {
                        "roll": -0.0015258853090927005,
                        "pitch": -0.40689483284950256,
                        "yaw": 162.75982666015625
                    }
                },
                "velocity": {
                    "x": -4.63661527633667,
                    "y": 1.4445794820785522,
                    "z": -0.036843471229076385
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.14571413397789001,
        "expert_target_speed": 9.185143729169791,
        "target_point": [
            25.19212470155754,
            -0.21520690971148948
        ],
        "target_point_next": [
            77.09168795400801,
            -0.39150792581130034
        ]
    },
    "100": {
        "acceleration": [
            -1.9593620300292969,
            0.6985998153686523,
            -0.010189861059188843
        ],
        "angular_velocity": [
            0.8555486798286438,
            1.6127458810806274,
            1.020650863647461
        ],
        "forward_vector": [
            -0.9688857793807983,
            0.247257798910141,
            -0.011129148304462433
        ],
        "right_vector": [
            -0.24727854132652283,
            -0.9689443111419678,
            0.0005054367356933653
        ],
        "location": [
            448.42333984375,
            5090.98828125,
            369.47607421875
        ],
        "rotation": [
            -0.028961187228560448,
            -0.6376664042472839,
            165.6837921142578
        ],
        "velocity": [
            -8.513484001159668,
            2.1919052600860596,
            -0.05980246514081955
        ],
        "speed": 8.791123847790711,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 18838,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.8620023727416992,
                "transform": {
                    "location": {
                        "x": 324.8006286621094,
                        "y": 5126.1923828125,
                        "z": 369.1018371582031
                    },
                    "rotation": {
                        "roll": 0.019607476890087128,
                        "pitch": -0.4084452986717224,
                        "yaw": -8.272623062133789
                    }
                },
                "velocity": {
                    "x": 0.8490415215492249,
                    "y": -0.14889460802078247,
                    "z": 0.0026451777666807175
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 18837,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 1.5846242904663086,
                "transform": {
                    "location": {
                        "x": 389.37408447265625,
                        "y": 5115.49365234375,
                        "z": 369.1346435546875
                    },
                    "rotation": {
                        "roll": -0.0053100562654435635,
                        "pitch": 0.42272722721099854,
                        "yaw": -13.406331062316895
                    }
                },
                "velocity": {
                    "x": 1.5408287048339844,
                    "y": -0.36991921067237854,
                    "z": 0.00636508921161294
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 18836,
                "type": "vehicle.bh.crossbike",
                "speed_kmh": 3.8108787536621094,
                "transform": {
                    "location": {
                        "x": 353.03631591796875,
                        "y": 5122.6787109375,
                        "z": 369.0837097167969
                    },
                    "rotation": {
                        "roll": -0.1278686374425888,
                        "pitch": 0.011754754930734634,
                        "yaw": -9.154522895812988
                    }
                },
                "velocity": {
                    "x": 3.7621829509735107,
                    "y": -0.6066707968711853,
                    "z": 0.026949442923069
                },
                "bounding_box_extent": {
                    "x": 0.7546613812446594,
                    "y": 0.4329703152179718,
                    "z": 0.8061768412590027
                }
            },
            {
                "id": 18835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.992451190948486,
                "transform": {
                    "location": {
                        "x": 395.913818359375,
                        "y": 5111.65478515625,
                        "z": 369.17340087890625
                    },
                    "rotation": {
                        "roll": 0.011871070601046085,
                        "pitch": 0.1932055503129959,
                        "yaw": -13.576741218566895
                    }
                },
                "velocity": {
                    "x": 7.767979145050049,
                    "y": -1.880725383758545,
                    "z": 0.025449438020586967
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 18834,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.393959045410156,
                "transform": {
                    "location": {
                        "x": 395.23443603515625,
                        "y": 5108.4658203125,
                        "z": 369.1641845703125
                    },
                    "rotation": {
                        "roll": 0.0020966497249901295,
                        "pitch": 0.19289135932922363,
                        "yaw": -13.533831596374512
                    }
                },
                "velocity": {
                    "x": 6.216339588165283,
                    "y": -1.4964452981948853,
                    "z": 0.022021712735295296
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 18827,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.016413688659668,
                "transform": {
                    "location": {
                        "x": 436.5743408203125,
                        "y": 5100.8037109375,
                        "z": 369.38104248046875
                    },
                    "rotation": {
                        "roll": 0.0015422431752085686,
                        "pitch": 0.3646911084651947,
                        "yaw": -15.137590408325195
                    }
                },
                "velocity": {
                    "x": 7.737915992736816,
                    "y": -2.0940518379211426,
                    "z": 0.04984953626990318
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18826,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.079439163208008,
                "transform": {
                    "location": {
                        "x": 436.4567565917969,
                        "y": 5097.46728515625,
                        "z": 369.38189697265625
                    },
                    "rotation": {
                        "roll": -0.0001525884581496939,
                        "pitch": 0.36508041620254517,
                        "yaw": -15.133408546447754
                    }
                },
                "velocity": {
                    "x": 7.799093246459961,
                    "y": -2.1092419624328613,
                    "z": 0.05088922381401062
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18825,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.991877555847168,
                "transform": {
                    "location": {
                        "x": 473.98162841796875,
                        "y": 5079.73876953125,
                        "z": 369.6872863769531
                    },
                    "rotation": {
                        "roll": 0.000463577191112563,
                        "pitch": -0.4032270312309265,
                        "yaw": 162.60504150390625
                    }
                },
                "velocity": {
                    "x": -7.627004623413086,
                    "y": 2.386448383331299,
                    "z": -0.061417434364557266
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18824,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.005379484500735998,
                "transform": {
                    "location": {
                        "x": 459.20458984375,
                        "y": 5084.244140625,
                        "z": 369.56439208984375
                    },
                    "rotation": {
                        "roll": -0.005676270928233862,
                        "pitch": -0.8765522837638855,
                        "yaw": 163.8724365234375
                    }
                },
                "velocity": {
                    "x": 0.004848321434110403,
                    "y": -0.0015662828227505088,
                    "z": 0.0017260911408811808
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18821,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.3345649242401123,
                "transform": {
                    "location": {
                        "x": 491.6713562011719,
                        "y": 5077.60302734375,
                        "z": 369.8147888183594
                    },
                    "rotation": {
                        "roll": -0.0030212386045604944,
                        "pitch": -0.29708588123321533,
                        "yaw": 163.94664001464844
                    }
                },
                "velocity": {
                    "x": -2.2345876693725586,
                    "y": 0.6756678819656372,
                    "z": -0.016871651634573936
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18820,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.27072811126709,
                "transform": {
                    "location": {
                        "x": 477.46295166015625,
                        "y": 5082.0673828125,
                        "z": 369.69683837890625
                    },
                    "rotation": {
                        "roll": -0.0006713842158205807,
                        "pitch": -0.4194282293319702,
                        "yaw": 162.7447052001953
                    }
                },
                "velocity": {
                    "x": -5.031943321228027,
                    "y": 1.5679471492767334,
                    "z": -0.04076554253697395
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.132191002368927,
        "expert_target_speed": 9.183260547976046,
        "target_point": [
            23.02115086922623,
            -0.1102477663389898
        ],
        "target_point_next": [
            74.92099759713577,
            -0.06953581621011296
        ]
    },
    "105": {
        "acceleration": [
            -7.443122863769531,
            2.214217185974121,
            -0.06156042218208313
        ],
        "angular_velocity": [
            0.77692711353302,
            1.9505045413970947,
            -1.5864509344100952
        ],
        "forward_vector": [
            -0.9675208926200867,
            0.2527284324169159,
            -0.005627125035971403
        ],
        "right_vector": [
            -0.2527290880680084,
            -0.9675368666648865,
            -0.0006017996929585934
        ],
        "location": [
            446.2237854003906,
            5091.56103515625,
            369.4596862792969
        ],
        "rotation": [
            0.03448113426566124,
            -0.3224122226238251,
            165.36073303222656
        ],
        "velocity": [
            -9.172356605529785,
            2.4178168773651123,
            -0.06344978511333466
        ],
        "speed": 9.485671518215115,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 18838,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 1.0841504335403442,
                "transform": {
                    "location": {
                        "x": 325.04107666015625,
                        "y": 5126.150390625,
                        "z": 369.10174560546875
                    },
                    "rotation": {
                        "roll": -0.004364013671875,
                        "pitch": -0.5057686567306519,
                        "yaw": -8.887218475341797
                    }
                },
                "velocity": {
                    "x": 1.068652868270874,
                    "y": -0.1826508641242981,
                    "z": -0.001381244626827538
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 18837,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 1.561456561088562,
                "transform": {
                    "location": {
                        "x": 389.7562561035156,
                        "y": 5115.40185546875,
                        "z": 369.1355285644531
                    },
                    "rotation": {
                        "roll": -6.103629857534543e-05,
                        "pitch": 0.4004676342010498,
                        "yaw": -13.455465316772461
                    }
                },
                "velocity": {
                    "x": 1.518385887145996,
                    "y": -0.36420542001724243,
                    "z": 0.002312622033059597
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 18836,
                "type": "vehicle.bh.crossbike",
                "speed_kmh": 3.616638422012329,
                "transform": {
                    "location": {
                        "x": 353.9524230957031,
                        "y": 5122.53076171875,
                        "z": 369.0809020996094
                    },
                    "rotation": {
                        "roll": 0.04320024698972702,
                        "pitch": 0.06492094695568085,
                        "yaw": -9.176251411437988
                    }
                },
                "velocity": {
                    "x": 3.5705718994140625,
                    "y": -0.574739396572113,
                    "z": -0.027648333460092545
                },
                "bounding_box_extent": {
                    "x": 0.7546613812446594,
                    "y": 0.4329703152179718,
                    "z": 0.8061768412590027
                }
            },
            {
                "id": 18835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.197610855102539,
                "transform": {
                    "location": {
                        "x": 397.8791198730469,
                        "y": 5111.16748046875,
                        "z": 369.1800231933594
                    },
                    "rotation": {
                        "roll": 0.049129385501146317,
                        "pitch": 0.2036147564649582,
                        "yaw": -13.997273445129395
                    }
                },
                "velocity": {
                    "x": 7.947477340698242,
                    "y": -2.0094046592712402,
                    "z": 0.02690347656607628
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 18834,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.4289093017578125,
                "transform": {
                    "location": {
                        "x": 396.8966064453125,
                        "y": 5108.05517578125,
                        "z": 369.1698303222656
                    },
                    "rotation": {
                        "roll": 0.005534197203814983,
                        "pitch": 0.22665981948375702,
                        "yaw": -13.903340339660645
                    }
                },
                "velocity": {
                    "x": 7.203036785125732,
                    "y": -1.8177698850631714,
                    "z": 0.02585272677242756
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 18827,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.989112377166748,
                "transform": {
                    "location": {
                        "x": 438.5054626464844,
                        "y": 5100.28125,
                        "z": 369.3937072753906
                    },
                    "rotation": {
                        "roll": 0.0009306519059464335,
                        "pitch": 0.36328408122062683,
                        "yaw": -15.143115997314453
                    }
                },
                "velocity": {
                    "x": 7.711447715759277,
                    "y": -2.0873594284057617,
                    "z": 0.049160584807395935
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18826,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.010038375854492,
                "transform": {
                    "location": {
                        "x": 438.3975830078125,
                        "y": 5096.94287109375,
                        "z": 369.3946533203125
                    },
                    "rotation": {
                        "roll": -0.0010070794960483909,
                        "pitch": 0.3627445101737976,
                        "yaw": -15.137836456298828
                    }
                },
                "velocity": {
                    "x": 7.73191499710083,
                    "y": -2.091763973236084,
                    "z": 0.0523366816341877
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18825,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.736292839050293,
                "transform": {
                    "location": {
                        "x": 472.23175048828125,
                        "y": 5080.2861328125,
                        "z": 369.6726989746094
                    },
                    "rotation": {
                        "roll": -0.0006103544146753848,
                        "pitch": -0.3224122226238251,
                        "yaw": 162.59136962890625
                    }
                },
                "velocity": {
                    "x": -6.428879737854004,
                    "y": 2.011072874069214,
                    "z": -0.05224519968032837
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18824,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.9342195987701416,
                "transform": {
                    "location": {
                        "x": 459.08624267578125,
                        "y": 5084.27783203125,
                        "z": 369.564208984375
                    },
                    "rotation": {
                        "roll": -0.0022583003155887127,
                        "pitch": -0.4261764585971832,
                        "yaw": 163.87411499023438
                    }
                },
                "velocity": {
                    "x": -0.8973881602287292,
                    "y": 0.2596392035484314,
                    "z": -0.006949691567569971
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18821,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.770252227783203,
                "transform": {
                    "location": {
                        "x": 490.9490661621094,
                        "y": 5077.8232421875,
                        "z": 369.8093566894531
                    },
                    "rotation": {
                        "roll": 0.0029339210595935583,
                        "pitch": -0.21969301998615265,
                        "yaw": 163.52447509765625
                    }
                },
                "velocity": {
                    "x": -3.6055259704589844,
                    "y": 1.1019155979156494,
                    "z": -0.02769593708217144
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18820,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.1395263671875,
                "transform": {
                    "location": {
                        "x": 476.1112365722656,
                        "y": 5082.48876953125,
                        "z": 369.68585205078125
                    },
                    "rotation": {
                        "roll": -0.002471919171512127,
                        "pitch": -0.4135679304599762,
                        "yaw": 162.7252960205078
                    }
                },
                "velocity": {
                    "x": -5.861210823059082,
                    "y": 1.8269530534744263,
                    "z": -0.047235846519470215
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.11678747832775116,
        "expert_target_speed": 9.652922144715605,
        "target_point": [
            20.748504486148413,
            0.017823206191011742
        ],
        "target_point_next": [
            72.64729661232784,
            0.3511754028271028
        ]
    },
    "110": {
        "acceleration": [
            -4.289894104003906,
            1.3237762451171875,
            -0.0027251243591308594
        ],
        "angular_velocity": [
            0.11508038640022278,
            0.4481285810470581,
            -0.461762398481369
        ],
        "forward_vector": [
            -0.9660738706588745,
            0.2582637071609497,
            0.0010598894441500306
        ],
        "right_vector": [
            -0.25826478004455566,
            -0.9660735726356506,
            -0.0010492714354768395
        ],
        "location": [
            443.725341796875,
            5092.2255859375,
            369.44085693359375
        ],
        "rotation": [
            0.060118868947029114,
            0.060727208852767944,
            165.03292846679688
        ],
        "velocity": [
            -10.564433097839355,
            2.839019298553467,
            -0.07265057414770126
        ],
        "speed": 10.93925396250963,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 18838,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 1.3053374290466309,
                "transform": {
                    "location": {
                        "x": 325.3363952636719,
                        "y": 5126.099609375,
                        "z": 369.1012268066406
                    },
                    "rotation": {
                        "roll": -0.007659911643713713,
                        "pitch": -0.5197159051895142,
                        "yaw": -9.33479118347168
                    }
                },
                "velocity": {
                    "x": 1.2861106395721436,
                    "y": -0.22320672869682312,
                    "z": -0.0019506072858348489
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 18837,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 1.5389704704284668,
                "transform": {
                    "location": {
                        "x": 390.1329650878906,
                        "y": 5115.31103515625,
                        "z": 369.1363830566406
                    },
                    "rotation": {
                        "roll": 7.673809886910021e-05,
                        "pitch": 0.3992108702659607,
                        "yaw": -13.481830596923828
                    }
                },
                "velocity": {
                    "x": 1.4964228868484497,
                    "y": -0.3593599200248718,
                    "z": 0.0030240153428167105
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 18836,
                "type": "vehicle.bh.crossbike",
                "speed_kmh": 3.6091928482055664,
                "transform": {
                    "location": {
                        "x": 354.8435363769531,
                        "y": 5122.38623046875,
                        "z": 369.0757751464844
                    },
                    "rotation": {
                        "roll": -0.0382385179400444,
                        "pitch": 0.0364253968000412,
                        "yaw": -9.401378631591797
                    }
                },
                "velocity": {
                    "x": 3.558800220489502,
                    "y": -0.6009261608123779,
                    "z": -0.010049276053905487
                },
                "bounding_box_extent": {
                    "x": 0.7546613812446594,
                    "y": 0.4329703152179718,
                    "z": 0.8061768412590027
                }
            },
            {
                "id": 18835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.956851005554199,
                "transform": {
                    "location": {
                        "x": 399.8355712890625,
                        "y": 5110.671875,
                        "z": 369.1871032714844
                    },
                    "rotation": {
                        "roll": 0.02301824651658535,
                        "pitch": 0.20939992368221283,
                        "yaw": -14.325944900512695
                    }
                },
                "velocity": {
                    "x": 7.707645893096924,
                    "y": -1.975547432899475,
                    "z": 0.029727753251791
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 18834,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.498892784118652,
                "transform": {
                    "location": {
                        "x": 398.8677673339844,
                        "y": 5107.55712890625,
                        "z": 369.17706298828125
                    },
                    "rotation": {
                        "roll": 0.003680369583889842,
                        "pitch": 0.23807306587696075,
                        "yaw": -14.23778247833252
                    }
                },
                "velocity": {
                    "x": 8.23458194732666,
                    "y": -2.102825164794922,
                    "z": 0.030926436185836792
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 18827,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.021193504333496,
                "transform": {
                    "location": {
                        "x": 440.437255859375,
                        "y": 5099.75830078125,
                        "z": 369.4063720703125
                    },
                    "rotation": {
                        "roll": -9.15523778530769e-05,
                        "pitch": 0.36334556341171265,
                        "yaw": -15.148458480834961
                    }
                },
                "velocity": {
                    "x": 7.74236536026001,
                    "y": -2.095913887023926,
                    "z": 0.04966588690876961
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18826,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.073335647583008,
                "transform": {
                    "location": {
                        "x": 440.33819580078125,
                        "y": 5096.41748046875,
                        "z": 369.4073791503906
                    },
                    "rotation": {
                        "roll": 0.00042542468872852623,
                        "pitch": 0.36542877554893494,
                        "yaw": -15.141592979431152
                    }
                },
                "velocity": {
                    "x": 7.7928924560546875,
                    "y": -2.108757257461548,
                    "z": 0.052173394709825516
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18825,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.5537333488464355,
                "transform": {
                    "location": {
                        "x": 470.978271484375,
                        "y": 5080.6796875,
                        "z": 369.6611328125
                    },
                    "rotation": {
                        "roll": -0.004638670012354851,
                        "pitch": -0.16656097769737244,
                        "yaw": 162.93978881835938
                    }
                },
                "velocity": {
                    "x": -3.4001846313476562,
                    "y": 1.0329246520996094,
                    "z": -0.028832124546170235
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18824,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.8850024938583374,
                "transform": {
                    "location": {
                        "x": 458.74176025390625,
                        "y": 5084.37744140625,
                        "z": 369.56170654296875
                    },
                    "rotation": {
                        "roll": 0.00042757688788697124,
                        "pitch": -0.3135329782962799,
                        "yaw": 163.79379272460938
                    }
                },
                "velocity": {
                    "x": -1.8112672567367554,
                    "y": 0.5218791365623474,
                    "z": -0.0137107465416193
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18821,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.1931233406066895,
                "transform": {
                    "location": {
                        "x": 489.8679504394531,
                        "y": 5078.15625,
                        "z": 369.8012390136719
                    },
                    "rotation": {
                        "roll": 0.008189531043171883,
                        "pitch": -0.19940052926540375,
                        "yaw": 163.1166229248047
                    }
                },
                "velocity": {
                    "x": -4.96104097366333,
                    "y": 1.534772276878357,
                    "z": -0.03282436728477478
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18820,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.2912092208862305,
                "transform": {
                    "location": {
                        "x": 474.4958190917969,
                        "y": 5082.99169921875,
                        "z": 369.6727294921875
                    },
                    "rotation": {
                        "roll": -0.00189208856318146,
                        "pitch": -0.40041297674179077,
                        "yaw": 162.73695373535156
                    }
                },
                "velocity": {
                    "x": -6.9613518714904785,
                    "y": 2.167543649673462,
                    "z": -0.05538775771856308
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.10786336660385132,
        "expert_target_speed": 10.0,
        "target_point": [
            18.162751061110516,
            0.13327647163849754
        ],
        "target_point_next": [
            70.05878671436028,
            0.763539369177586
        ]
    },
    "115": {
        "acceleration": [
            -3.798809051513672,
            1.1640548706054688,
            -0.013382583856582642
        ],
        "angular_velocity": [
            -0.020335009321570396,
            0.060036711394786835,
            -1.0622601509094238
        ],
        "forward_vector": [
            -0.9651362895965576,
            0.26174280047416687,
            0.0016304246382787824
        ],
        "right_vector": [
            -0.26174452900886536,
            -0.9651366472244263,
            -0.0009499149164184928
        ],
        "location": [
            440.9549865722656,
            5092.97412109375,
            369.4217529296875
        ],
        "rotation": [
            0.05442619323730469,
            0.0934164896607399,
            164.82647705078125
        ],
        "velocity": [
            -11.540841102600098,
            3.1360199451446533,
            -0.07679543644189835
        ],
        "speed": 11.959332525346426,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 18838,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 1.5242518186569214,
                "transform": {
                    "location": {
                        "x": 325.6860046386719,
                        "y": 5126.0390625,
                        "z": 369.1007080078125
                    },
                    "rotation": {
                        "roll": -0.0014038152294233441,
                        "pitch": -0.5210819244384766,
                        "yaw": -9.580853462219238
                    }
                },
                "velocity": {
                    "x": 1.502215027809143,
                    "y": -0.25824058055877686,
                    "z": -0.002310695592314005
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 18837,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 1.5166071653366089,
                "transform": {
                    "location": {
                        "x": 390.50421142578125,
                        "y": 5115.22216796875,
                        "z": 369.1373596191406
                    },
                    "rotation": {
                        "roll": -0.0014343250077217817,
                        "pitch": 0.4021342098712921,
                        "yaw": -13.496113777160645
                    }
                },
                "velocity": {
                    "x": 1.4745826721191406,
                    "y": -0.35453033447265625,
                    "z": 0.0033869552426040173
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 18836,
                "type": "vehicle.bh.crossbike",
                "speed_kmh": 3.412332057952881,
                "transform": {
                    "location": {
                        "x": 355.70794677734375,
                        "y": 5122.2431640625,
                        "z": 369.0751037597656
                    },
                    "rotation": {
                        "roll": -0.061065662652254105,
                        "pitch": 0.06336366385221481,
                        "yaw": -9.408947944641113
                    }
                },
                "velocity": {
                    "x": 3.366298198699951,
                    "y": -0.5586111545562744,
                    "z": -0.00020333289285190403
                },
                "bounding_box_extent": {
                    "x": 0.7546613812446594,
                    "y": 0.4329703152179718,
                    "z": 0.8061768412590027
                }
            },
            {
                "id": 18835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.162067413330078,
                "transform": {
                    "location": {
                        "x": 401.7879943847656,
                        "y": 5110.16943359375,
                        "z": 369.19488525390625
                    },
                    "rotation": {
                        "roll": 0.02414836175739765,
                        "pitch": 0.22643442451953888,
                        "yaw": -14.51640510559082
                    }
                },
                "velocity": {
                    "x": 7.896909236907959,
                    "y": -2.063265562057495,
                    "z": 0.03328534960746765
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 18834,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.964221477508545,
                "transform": {
                    "location": {
                        "x": 400.8631896972656,
                        "y": 5107.0458984375,
                        "z": 369.1851806640625
                    },
                    "rotation": {
                        "roll": 0.004510996397584677,
                        "pitch": 0.2221314013004303,
                        "yaw": -14.443501472473145
                    }
                },
                "velocity": {
                    "x": 7.707648277282715,
                    "y": -2.00496768951416,
                    "z": 0.032945480197668076
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 18827,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.987761497497559,
                "transform": {
                    "location": {
                        "x": 442.3687744140625,
                        "y": 5099.2353515625,
                        "z": 369.41900634765625
                    },
                    "rotation": {
                        "roll": -9.155574662145227e-05,
                        "pitch": 0.36624836921691895,
                        "yaw": -15.148274421691895
                    }
                },
                "velocity": {
                    "x": 7.7100958824157715,
                    "y": -2.087106227874756,
                    "z": 0.05241746827960014
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18826,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.016827583312988,
                "transform": {
                    "location": {
                        "x": 442.2796325683594,
                        "y": 5095.89208984375,
                        "z": 369.4203796386719
                    },
                    "rotation": {
                        "roll": 0.0003284696431364864,
                        "pitch": 0.37207454442977905,
                        "yaw": -15.142383575439453
                    }
                },
                "velocity": {
                    "x": 7.738333702087402,
                    "y": -2.094057559967041,
                    "z": 0.051460206508636475
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18825,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005668042576871812,
                "transform": {
                    "location": {
                        "x": 470.5500793457031,
                        "y": 5080.81640625,
                        "z": 369.656982421875
                    },
                    "rotation": {
                        "roll": -0.023040764033794403,
                        "pitch": -0.07378652691841125,
                        "yaw": 164.16311645507812
                    }
                },
                "velocity": {
                    "x": -0.00046096861478872597,
                    "y": -0.00014048356388229877,
                    "z": 0.0002983946760650724
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18824,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.074767827987671,
                "transform": {
                    "location": {
                        "x": 458.1555480957031,
                        "y": 5084.5458984375,
                        "z": 369.5572814941406
                    },
                    "rotation": {
                        "roll": -0.002044674241915345,
                        "pitch": -0.2520476281642914,
                        "yaw": 163.79042053222656
                    }
                },
                "velocity": {
                    "x": -2.9546008110046387,
                    "y": 0.8508943915367126,
                    "z": -0.022586287930607796
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18821,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.528691291809082,
                "transform": {
                    "location": {
                        "x": 488.57379150390625,
                        "y": 5078.55810546875,
                        "z": 369.79107666015625
                    },
                    "rotation": {
                        "roll": 0.005756467115134001,
                        "pitch": -0.329590767621994,
                        "yaw": 162.8363494873047
                    }
                },
                "velocity": {
                    "x": -5.278321266174316,
                    "y": 1.6444154977798462,
                    "z": -0.04059886932373047
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18820,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.357959747314453,
                "transform": {
                    "location": {
                        "x": 472.6551513671875,
                        "y": 5083.564453125,
                        "z": 369.65814208984375
                    },
                    "rotation": {
                        "roll": -0.0024414067156612873,
                        "pitch": -0.40539219975471497,
                        "yaw": 162.7201690673828
                    }
                },
                "velocity": {
                    "x": -7.979521751403809,
                    "y": 2.4856817722320557,
                    "z": -0.06408511102199554
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.11183029413223267,
        "expert_target_speed": 10.0,
        "target_point": [
            15.29245493883084,
            0.19605120159600808
        ],
        "target_point_next": [
            67.18588214877715,
            1.013339553029315
        ]
    },
    "120": {
        "acceleration": [
            -3.7919235229492188,
            1.2060880661010742,
            -0.00983119010925293
        ],
        "angular_velocity": [
            0.0181435476988554,
            -0.05119839683175087,
            -0.7851514220237732
        ],
        "forward_vector": [
            -0.96425461769104,
            0.2649722397327423,
            0.0016722669824957848
        ],
        "right_vector": [
            -0.2649741768836975,
            -0.9642548561096191,
            -0.0010717363329604268
        ],
        "location": [
            437.9469909667969,
            5093.796875,
            369.40185546875
        ],
        "rotation": [
            0.06140607222914696,
            0.09581388533115387,
            164.63467407226562
        ],
        "velocity": [
            -12.484965324401855,
            3.4379489421844482,
            -0.08112431317567825
        ],
        "speed": 12.949666099192823,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 18838,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 1.7397404909133911,
                "transform": {
                    "location": {
                        "x": 326.0891418457031,
                        "y": 5125.96923828125,
                        "z": 369.1000671386719
                    },
                    "rotation": {
                        "roll": 0.0006760830292478204,
                        "pitch": -0.5187391638755798,
                        "yaw": -9.723248481750488
                    }
                },
                "velocity": {
                    "x": 1.7142597436904907,
                    "y": -0.29666200280189514,
                    "z": -0.0015525245107710361
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 18837,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 1.6134235858917236,
                "transform": {
                    "location": {
                        "x": 390.8797607421875,
                        "y": 5115.1318359375,
                        "z": 369.1383361816406
                    },
                    "rotation": {
                        "roll": 0.00105603679548949,
                        "pitch": 0.3428276777267456,
                        "yaw": -13.503314971923828
                    }
                },
                "velocity": {
                    "x": 1.5687158107757568,
                    "y": -0.3771425187587738,
                    "z": 0.005483722779899836
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 18836,
                "type": "vehicle.bh.crossbike",
                "speed_kmh": 3.406764507293701,
                "transform": {
                    "location": {
                        "x": 356.54876708984375,
                        "y": 5122.103515625,
                        "z": 369.0751037597656
                    },
                    "rotation": {
                        "roll": 0.014284688048064709,
                        "pitch": 0.06578154861927032,
                        "yaw": -9.414959907531738
                    }
                },
                "velocity": {
                    "x": 3.361067056655884,
                    "y": -0.5561206340789795,
                    "z": -0.0017200851580128074
                },
                "bounding_box_extent": {
                    "x": 0.7546613812446594,
                    "y": 0.4329703152179718,
                    "z": 0.8061768412590027
                }
            },
            {
                "id": 18835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.050211429595947,
                "transform": {
                    "location": {
                        "x": 403.69647216796875,
                        "y": 5109.66943359375,
                        "z": 369.20361328125
                    },
                    "rotation": {
                        "roll": 0.0229595135897398,
                        "pitch": 0.13900117576122284,
                        "yaw": -14.754411697387695
                    }
                },
                "velocity": {
                    "x": 6.815752029418945,
                    "y": -1.802791714668274,
                    "z": 0.030736999586224556
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 18834,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.007390022277832,
                "transform": {
                    "location": {
                        "x": 402.77557373046875,
                        "y": 5106.54638671875,
                        "z": 369.1932373046875
                    },
                    "rotation": {
                        "roll": 0.004003484733402729,
                        "pitch": 0.23486287891864777,
                        "yaw": -14.704913139343262
                    }
                },
                "velocity": {
                    "x": 7.7421793937683105,
                    "y": -2.0434696674346924,
                    "z": 0.03444614261388779
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 18827,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.019887924194336,
                "transform": {
                    "location": {
                        "x": 444.3006591796875,
                        "y": 5098.71240234375,
                        "z": 369.43212890625
                    },
                    "rotation": {
                        "roll": -0.00012206902465550229,
                        "pitch": 0.3843074142932892,
                        "yaw": -15.146138191223145
                    }
                },
                "velocity": {
                    "x": 7.741170883178711,
                    "y": -2.0952401161193848,
                    "z": 0.05327222868800163
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18826,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.068217277526855,
                "transform": {
                    "location": {
                        "x": 444.2204284667969,
                        "y": 5095.36669921875,
                        "z": 369.43359375
                    },
                    "rotation": {
                        "roll": 0.0009752052719704807,
                        "pitch": 0.3884669840335846,
                        "yaw": -15.142139434814453
                    }
                },
                "velocity": {
                    "x": 7.787942409515381,
                    "y": -2.1074142456054688,
                    "z": 0.053695496171712875
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18825,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.3079625368118286,
                "transform": {
                    "location": {
                        "x": 470.3625183105469,
                        "y": 5080.8740234375,
                        "z": 369.6584777832031
                    },
                    "rotation": {
                        "roll": -0.019683837890625,
                        "pitch": -0.4374394416809082,
                        "yaw": 164.04718017578125
                    }
                },
                "velocity": {
                    "x": -1.2486552000045776,
                    "y": 0.3892635405063629,
                    "z": -0.009998912923038006
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18824,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.593836784362793,
                "transform": {
                    "location": {
                        "x": 457.2213439941406,
                        "y": 5084.814453125,
                        "z": 369.55023193359375
                    },
                    "rotation": {
                        "roll": -0.0013427702942863107,
                        "pitch": -0.19671626389026642,
                        "yaw": 163.8981475830078
                    }
                },
                "velocity": {
                    "x": -4.415474891662598,
                    "y": 1.2672113180160522,
                    "z": -0.033095818012952805
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18821,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.422179222106934,
                "transform": {
                    "location": {
                        "x": 487.06646728515625,
                        "y": 5079.02978515625,
                        "z": 369.7794494628906
                    },
                    "rotation": {
                        "roll": 0.0061941747553646564,
                        "pitch": -0.16924524307250977,
                        "yaw": 162.6687774658203
                    }
                },
                "velocity": {
                    "x": -7.082221984863281,
                    "y": 2.2198987007141113,
                    "z": -0.05407378077507019
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18820,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.496306419372559,
                "transform": {
                    "location": {
                        "x": 470.59564208984375,
                        "y": 5084.2060546875,
                        "z": 369.6418151855469
                    },
                    "rotation": {
                        "roll": -0.0020141606219112873,
                        "pitch": -0.4244416058063507,
                        "yaw": 162.69845581054688
                    }
                },
                "velocity": {
                    "x": -8.115018844604492,
                    "y": 2.5158605575561523,
                    "z": -0.06436066329479218
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.11027111858129501,
        "expert_target_speed": 10.0,
        "target_point": [
            12.173228240054616,
            0.24354427138025203
        ],
        "target_point_next": [
            64.06362940483349,
            1.234510871069162
        ]
    },
    "125": {
        "acceleration": [
            -3.868236541748047,
            1.1126375198364258,
            -0.03372400999069214
        ],
        "angular_velocity": [
            -0.04255080968141556,
            0.025397246703505516,
            -0.09788304567337036
        ],
        "forward_vector": [
            -0.9638559222221375,
            0.2664191424846649,
            0.0016326896147802472
        ],
        "right_vector": [
            -0.26642048358917236,
            -0.9638566374778748,
            -0.0006559680332429707
        ],
        "location": [
            434.7010498046875,
            5094.69189453125,
            369.3807678222656
        ],
        "rotation": [
            0.037584252655506134,
            0.09354626387357712,
            164.54869079589844
        ],
        "velocity": [
            -13.445534706115723,
            3.7153074741363525,
            -0.08797860145568848
        ],
        "speed": 13.949405476963378,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 82.00652313232422,
        "front_vehicle_info": {
            "id": 18836,
            "type": "vehicle.bh.crossbike",
            "location": [
                357.36358642578125,
                5121.96630859375,
                369.074951171875
            ],
            "velocity": [
                3.1612181663513184,
                -0.5374943614006042,
                -0.001746120397001505
            ],
            "speed_kmh": 11.543715077233822,
            "color": "0,112,39"
        },
        "other_vehicles": [
            {
                "id": 18838,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 1.953466773033142,
                "transform": {
                    "location": {
                        "x": 326.5451354980469,
                        "y": 5125.89013671875,
                        "z": 369.099365234375
                    },
                    "rotation": {
                        "roll": 0.002620249055325985,
                        "pitch": -0.5199891328811646,
                        "yaw": -9.792189598083496
                    }
                },
                "velocity": {
                    "x": 1.9247745275497437,
                    "y": -0.3335695266723633,
                    "z": -0.0026808450929820538
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 18837,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 1.7678570747375488,
                "transform": {
                    "location": {
                        "x": 391.29205322265625,
                        "y": 5115.03271484375,
                        "z": 369.1395263671875
                    },
                    "rotation": {
                        "roll": -0.00033569466904737055,
                        "pitch": 0.3095782995223999,
                        "yaw": -13.507528305053711
                    }
                },
                "velocity": {
                    "x": 1.718885898590088,
                    "y": -0.4131789803504944,
                    "z": 0.005764579866081476
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 18836,
                "type": "vehicle.bh.crossbike",
                "speed_kmh": 3.206587553024292,
                "transform": {
                    "location": {
                        "x": 357.36358642578125,
                        "y": 5121.96630859375,
                        "z": 369.074951171875
                    },
                    "rotation": {
                        "roll": -0.0702514573931694,
                        "pitch": 0.12691856920719147,
                        "yaw": -9.606518745422363
                    }
                },
                "velocity": {
                    "x": 3.1612181663513184,
                    "y": -0.5374943614006042,
                    "z": -0.001746120397001505
                },
                "bounding_box_extent": {
                    "x": 0.7546613812446594,
                    "y": 0.4329703152179718,
                    "z": 0.8061768412590027
                }
            },
            {
                "id": 18835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.7418718338012695,
                "transform": {
                    "location": {
                        "x": 405.184326171875,
                        "y": 5109.275390625,
                        "z": 369.2127990722656
                    },
                    "rotation": {
                        "roll": 0.005130625795572996,
                        "pitch": -0.13390585780143738,
                        "yaw": -14.799184799194336
                    }
                },
                "velocity": {
                    "x": 5.548920631408691,
                    "y": -1.4757440090179443,
                    "z": 0.027432136237621307
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 18834,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.156937599182129,
                "transform": {
                    "location": {
                        "x": 404.74365234375,
                        "y": 5106.0263671875,
                        "z": 369.20208740234375
                    },
                    "rotation": {
                        "roll": 0.0028496203012764454,
                        "pitch": 0.2670398950576782,
                        "yaw": -14.843311309814453
                    }
                },
                "velocity": {
                    "x": 7.883912563323975,
                    "y": -2.0924201011657715,
                    "z": 0.0364636592566967
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 18827,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.987812042236328,
                "transform": {
                    "location": {
                        "x": 446.232177734375,
                        "y": 5098.18994140625,
                        "z": 369.4455261230469
                    },
                    "rotation": {
                        "roll": 0.00029897436616010964,
                        "pitch": 0.38773617148399353,
                        "yaw": -15.144977569580078
                    }
                },
                "velocity": {
                    "x": 7.710203647613525,
                    "y": -2.0868947505950928,
                    "z": 0.052639540284872055
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18826,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.019189834594727,
                "transform": {
                    "location": {
                        "x": 446.1613464355469,
                        "y": 5094.84130859375,
                        "z": 369.4471435546875
                    },
                    "rotation": {
                        "roll": 0.0009786969749256968,
                        "pitch": 0.386820912361145,
                        "yaw": -15.14598274230957
                    }
                },
                "velocity": {
                    "x": 7.740457057952881,
                    "y": -2.0951929092407227,
                    "z": 0.053866080939769745
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18825,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1202590465545654,
                "transform": {
                    "location": {
                        "x": 469.947265625,
                        "y": 5081.00048828125,
                        "z": 369.6557312011719
                    },
                    "rotation": {
                        "roll": -0.01287841796875,
                        "pitch": -0.5197432041168213,
                        "yaw": 163.8144073486328
                    }
                },
                "velocity": {
                    "x": -2.0271546840667725,
                    "y": 0.6212128400802612,
                    "z": -0.015389556996524334
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18824,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.401506423950195,
                "transform": {
                    "location": {
                        "x": 455.9743957519531,
                        "y": 5085.171875,
                        "z": 369.5408935546875
                    },
                    "rotation": {
                        "roll": -0.0005798350903205574,
                        "pitch": -0.26348820328712463,
                        "yaw": 163.97247314453125
                    }
                },
                "velocity": {
                    "x": -5.192211151123047,
                    "y": 1.488472819328308,
                    "z": -0.040777795016765594
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18821,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.287161827087402,
                "transform": {
                    "location": {
                        "x": 485.1752624511719,
                        "y": 5079.62353515625,
                        "z": 369.7644958496094
                    },
                    "rotation": {
                        "roll": 0.0034313462674617767,
                        "pitch": -0.25363221764564514,
                        "yaw": 162.55316162109375
                    }
                },
                "velocity": {
                    "x": -7.905381202697754,
                    "y": 2.4855868816375732,
                    "z": -0.062145646661520004
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18820,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.10267162322998,
                "transform": {
                    "location": {
                        "x": 468.6204528808594,
                        "y": 5084.81640625,
                        "z": 369.62628173828125
                    },
                    "rotation": {
                        "roll": -0.0032653771340847015,
                        "pitch": -0.4484497010707855,
                        "yaw": 162.85227966308594
                    }
                },
                "velocity": {
                    "x": -7.745284080505371,
                    "y": 2.3790645599365234,
                    "z": -0.06251167505979538
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.11601454764604568,
        "expert_target_speed": 10.0,
        "target_point": [
            8.805774615563864,
            0.25970812260414844
        ],
        "target_point_next": [
            60.69462979636852,
            1.3285653950531024
        ]
    },
    "130": {
        "acceleration": [
            0.6751632690429688,
            -0.1717090606689453,
            0.0062716007232666016
        ],
        "angular_velocity": [
            -0.28561463952064514,
            -1.0097543001174927,
            -0.057954639196395874
        ],
        "forward_vector": [
            -0.963779628276825,
            0.26669737696647644,
            0.0011535880621522665
        ],
        "right_vector": [
            -0.2666979432106018,
            -0.9637801051139832,
            -0.0003871570515912026
        ],
        "location": [
            431.22003173828125,
            5095.654296875,
            369.35833740234375
        ],
        "rotation": [
            0.02218247950077057,
            0.0660957396030426,
            164.5321502685547
        ],
        "velocity": [
            -14.193211555480957,
            3.9279539585113525,
            -0.09107666462659836
        ],
        "speed": 14.726713026294197,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 77.61449432373047,
        "front_vehicle_info": {
            "id": 18836,
            "type": "vehicle.bh.crossbike",
            "location": [
                358.15374755859375,
                5121.83154296875,
                369.0749206542969
            ],
            "velocity": [
                3.1602296829223633,
                -0.5366731286048889,
                -0.0011824130779132247
            ],
            "speed_kmh": 11.539710627950129,
            "color": "0,112,39"
        },
        "other_vehicles": [
            {
                "id": 18838,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 2.1666839122772217,
                "transform": {
                    "location": {
                        "x": 327.0537414550781,
                        "y": 5125.80224609375,
                        "z": 369.09857177734375
                    },
                    "rotation": {
                        "roll": 0.004895840771496296,
                        "pitch": -0.5177009701728821,
                        "yaw": -9.823713302612305
                    }
                },
                "velocity": {
                    "x": 2.1348400115966797,
                    "y": -0.37009745836257935,
                    "z": -0.002365856198593974
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 18837,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 2.0379931926727295,
                "transform": {
                    "location": {
                        "x": 391.7476501464844,
                        "y": 5114.9228515625,
                        "z": 369.1408386230469
                    },
                    "rotation": {
                        "roll": 7.69486723584123e-05,
                        "pitch": 0.23704169690608978,
                        "yaw": -13.508992195129395
                    }
                },
                "velocity": {
                    "x": 1.9816038608551025,
                    "y": -0.4760521352291107,
                    "z": 0.006062774453312159
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 18836,
                "type": "vehicle.bh.crossbike",
                "speed_kmh": 3.205475091934204,
                "transform": {
                    "location": {
                        "x": 358.15374755859375,
                        "y": 5121.83154296875,
                        "z": 369.0749206542969
                    },
                    "rotation": {
                        "roll": -0.004943846724927425,
                        "pitch": 0.09547921270132065,
                        "yaw": -9.647320747375488
                    }
                },
                "velocity": {
                    "x": 3.1602296829223633,
                    "y": -0.5366731286048889,
                    "z": -0.0011824130779132247
                },
                "bounding_box_extent": {
                    "x": 0.7546613812446594,
                    "y": 0.4329703152179718,
                    "z": 0.8061768412590027
                }
            },
            {
                "id": 18835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.392467498779297,
                "transform": {
                    "location": {
                        "x": 406.5955810546875,
                        "y": 5108.8994140625,
                        "z": 369.21600341796875
                    },
                    "rotation": {
                        "roll": 0.008862383663654327,
                        "pitch": 0.3106642961502075,
                        "yaw": -14.867999076843262
                    }
                },
                "velocity": {
                    "x": 6.17522668838501,
                    "y": -1.6521059274673462,
                    "z": 0.02767365425825119
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 18834,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.002685546875,
                "transform": {
                    "location": {
                        "x": 406.6917419433594,
                        "y": 5105.50732421875,
                        "z": 369.21142578125
                    },
                    "rotation": {
                        "roll": 0.0016449098475277424,
                        "pitch": 0.26962852478027344,
                        "yaw": -14.958330154418945
                    }
                },
                "velocity": {
                    "x": 7.730106830596924,
                    "y": -2.07051157951355,
                    "z": 0.037342023104429245
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 18827,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.019964218139648,
                "transform": {
                    "location": {
                        "x": 448.1639709472656,
                        "y": 5097.6669921875,
                        "z": 369.4590148925781
                    },
                    "rotation": {
                        "roll": -0.0006103519117459655,
                        "pitch": 0.3863837718963623,
                        "yaw": -15.147786140441895
                    }
                },
                "velocity": {
                    "x": 7.741133689880371,
                    "y": -2.095667600631714,
                    "z": 0.053418148308992386
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18826,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.069366455078125,
                "transform": {
                    "location": {
                        "x": 448.1025390625,
                        "y": 5094.31591796875,
                        "z": 369.4606628417969
                    },
                    "rotation": {
                        "roll": 0.001348842983134091,
                        "pitch": 0.3868550658226013,
                        "yaw": -15.149795532226562
                    }
                },
                "velocity": {
                    "x": 7.788733959197998,
                    "y": -2.1089038848876953,
                    "z": 0.05317074805498123
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18825,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9512099027633667,
                "transform": {
                    "location": {
                        "x": 469.4630432128906,
                        "y": 5081.1474609375,
                        "z": 369.6512145996094
                    },
                    "rotation": {
                        "roll": -0.0093994140625,
                        "pitch": -0.4379585385322571,
                        "yaw": 163.62234497070312
                    }
                },
                "velocity": {
                    "x": -1.8651134967803955,
                    "y": 0.5730493664741516,
                    "z": -0.013639030046761036
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18824,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.33902645111084,
                "transform": {
                    "location": {
                        "x": 454.5510559082031,
                        "y": 5085.57373046875,
                        "z": 369.530029296875
                    },
                    "rotation": {
                        "roll": -0.011871333234012127,
                        "pitch": -0.30785709619522095,
                        "yaw": 164.22909545898438
                    }
                },
                "velocity": {
                    "x": -6.103813171386719,
                    "y": 1.710130214691162,
                    "z": -0.04661984741687775
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18840,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": 366.8147888183594,
                        "y": 5114.7099609375,
                        "z": 369.4348449707031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.15457400679588318,
                        "yaw": -10.790361404418945
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18821,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.784605979919434,
                "transform": {
                    "location": {
                        "x": 483.2490539550781,
                        "y": 5080.2294921875,
                        "z": 369.7490539550781
                    },
                    "rotation": {
                        "roll": 0.0006295504281297326,
                        "pitch": -0.44649627804756165,
                        "yaw": 162.55584716796875
                    }
                },
                "velocity": {
                    "x": -7.4256720542907715,
                    "y": 2.3357980251312256,
                    "z": -0.059428490698337555
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18820,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.09622049331665,
                "transform": {
                    "location": {
                        "x": 466.7481384277344,
                        "y": 5085.39111328125,
                        "z": 369.6114807128906
                    },
                    "rotation": {
                        "roll": -0.002716070506721735,
                        "pitch": -0.46633797883987427,
                        "yaw": 163.00146484375
                    }
                },
                "velocity": {
                    "x": -6.786479949951172,
                    "y": 2.072967052459717,
                    "z": -0.05329493433237076
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.11809458583593369,
        "expert_target_speed": 10.0,
        "target_point": [
            57.08263646205954,
            1.3452698313853038
        ],
        "target_point_next": [
            68.17164495573151,
            2.1572858304428078
        ]
    },
    "135": {
        "acceleration": [
            -3.87786865234375,
            0.9145450592041016,
            -0.03220364451408386
        ],
        "angular_velocity": [
            -0.13669227063655853,
            0.3382891118526459,
            0.42511501908302307
        ],
        "forward_vector": [
            -0.9638293385505676,
            0.2665186822414398,
            0.0008543728617951274
        ],
        "right_vector": [
            -0.26651880145072937,
            -0.9638296961784363,
            -3.645453034550883e-05
        ],
        "location": [
            427.5741271972656,
            5096.6630859375,
            369.3352355957031
        ],
        "rotation": [
            0.00208869157359004,
            0.04895196482539177,
            164.54278564453125
        ],
        "velocity": [
            -15.080391883850098,
            4.163862705230713,
            -0.09531008452177048
        ],
        "speed": 15.644678711897638,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 73.03727722167969,
        "front_vehicle_info": {
            "id": 18836,
            "type": "vehicle.bh.crossbike",
            "location": [
                358.96044921875,
                5121.69384765625,
                369.07440185546875
            ],
            "velocity": [
                3.375375986099243,
                -0.6107940077781677,
                -0.0005988407065160573
            ],
            "speed_kmh": 12.348699369975778,
            "color": "0,112,39"
        },
        "other_vehicles": [
            {
                "id": 18838,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 2.34126615524292,
                "transform": {
                    "location": {
                        "x": 327.6138916015625,
                        "y": 5125.705078125,
                        "z": 369.0977783203125
                    },
                    "rotation": {
                        "roll": 0.00597523944452405,
                        "pitch": -0.5048192739486694,
                        "yaw": -9.837690353393555
                    }
                },
                "velocity": {
                    "x": 2.3067378997802734,
                    "y": -0.40060535073280334,
                    "z": -0.001693620695732534
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 18837,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 2.2159600257873535,
                "transform": {
                    "location": {
                        "x": 392.2658996582031,
                        "y": 5114.798828125,
                        "z": 369.1423645019531
                    },
                    "rotation": {
                        "roll": -0.0011596719268709421,
                        "pitch": 0.2809734642505646,
                        "yaw": -13.508810997009277
                    }
                },
                "velocity": {
                    "x": 2.154743194580078,
                    "y": -0.5172238349914551,
                    "z": 0.006378812715411186
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 18836,
                "type": "vehicle.bh.crossbike",
                "speed_kmh": 3.430194139480591,
                "transform": {
                    "location": {
                        "x": 358.96044921875,
                        "y": 5121.69384765625,
                        "z": 369.07440185546875
                    },
                    "rotation": {
                        "roll": -0.0673827975988388,
                        "pitch": -0.41933944821357727,
                        "yaw": -9.869184494018555
                    }
                },
                "velocity": {
                    "x": 3.375375986099243,
                    "y": -0.6107940077781677,
                    "z": -0.0005988407065160573
                },
                "bounding_box_extent": {
                    "x": 0.7546613812446594,
                    "y": 0.4329703152179718,
                    "z": 0.8061768412590027
                }
            },
            {
                "id": 18835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.839575290679932,
                "transform": {
                    "location": {
                        "x": 408.3869323730469,
                        "y": 5108.41943359375,
                        "z": 369.2211608886719
                    },
                    "rotation": {
                        "roll": 0.00949685089290142,
                        "pitch": 0.7216299176216125,
                        "yaw": -14.96440601348877
                    }
                },
                "velocity": {
                    "x": 7.571208953857422,
                    "y": -2.0333170890808105,
                    "z": 0.0369255356490612
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 18834,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.070220947265625,
                "transform": {
                    "location": {
                        "x": 408.6291198730469,
                        "y": 5104.98779296875,
                        "z": 369.2209167480469
                    },
                    "rotation": {
                        "roll": 0.0018294338369742036,
                        "pitch": 0.2715136706829071,
                        "yaw": -15.025959014892578
                    }
                },
                "velocity": {
                    "x": 7.793862819671631,
                    "y": -2.093508005142212,
                    "z": 0.03735801577568054
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 18827,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.987833023071289,
                "transform": {
                    "location": {
                        "x": 450.0951843261719,
                        "y": 5097.1435546875,
                        "z": 369.4725036621094
                    },
                    "rotation": {
                        "roll": 0.0011038174852728844,
                        "pitch": 0.3858715295791626,
                        "yaw": -15.177690505981445
                    }
                },
                "velocity": {
                    "x": 7.706352233886719,
                    "y": -2.101163387298584,
                    "z": 0.052208252251148224
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18826,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.017148971557617,
                "transform": {
                    "location": {
                        "x": 450.0420227050781,
                        "y": 5093.78662109375,
                        "z": 369.4742126464844
                    },
                    "rotation": {
                        "roll": 0.004307079128921032,
                        "pitch": 0.3860081136226654,
                        "yaw": -15.280045509338379
                    }
                },
                "velocity": {
                    "x": 7.730329990386963,
                    "y": -2.124587297439575,
                    "z": 0.05289563909173012
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18825,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.6062490940093994,
                "transform": {
                    "location": {
                        "x": 468.92706298828125,
                        "y": 5081.31103515625,
                        "z": 369.6473388671875
                    },
                    "rotation": {
                        "roll": -0.008789059706032276,
                        "pitch": -0.48947182297706604,
                        "yaw": 163.4575958251953
                    }
                },
                "velocity": {
                    "x": -2.4914159774780273,
                    "y": 0.7648537158966064,
                    "z": -0.019476408138871193
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18824,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.147138595581055,
                "transform": {
                    "location": {
                        "x": 452.74560546875,
                        "y": 5086.0771484375,
                        "z": 369.5166320800781
                    },
                    "rotation": {
                        "roll": -0.007537836208939552,
                        "pitch": -0.17559732496738434,
                        "yaw": 164.41453552246094
                    }
                },
                "velocity": {
                    "x": -7.848729610443115,
                    "y": 2.184032440185547,
                    "z": -0.05746893584728241
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18840,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.6192071437835693,
                "transform": {
                    "location": {
                        "x": 366.8150939941406,
                        "y": 5114.7099609375,
                        "z": 369.0287780761719
                    },
                    "rotation": {
                        "roll": -6.103669875301421e-05,
                        "pitch": 0.15414370596408844,
                        "yaw": -10.790390968322754
                    }
                },
                "velocity": {
                    "x": 0.0016355487750843167,
                    "y": -0.00022096827160567045,
                    "z": -0.6192049384117126
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18821,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.7761640548706055,
                "transform": {
                    "location": {
                        "x": 481.5262451171875,
                        "y": 5080.77197265625,
                        "z": 369.7352294921875
                    },
                    "rotation": {
                        "roll": 0.0010276127140969038,
                        "pitch": -0.5626845955848694,
                        "yaw": 162.5010528564453
                    }
                },
                "velocity": {
                    "x": -6.463104724884033,
                    "y": 2.0352208614349365,
                    "z": -0.050566598773002625
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18820,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.756873607635498,
                "transform": {
                    "location": {
                        "x": 465.1237487792969,
                        "y": 5085.884765625,
                        "z": 369.5985412597656
                    },
                    "rotation": {
                        "roll": -0.0013427746016532183,
                        "pitch": -0.45471298694610596,
                        "yaw": 163.131103515625
                    }
                },
                "velocity": {
                    "x": -6.471719264984131,
                    "y": 1.941500186920166,
                    "z": -0.05257677286863327
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18841,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.450000286102295,
                "transform": {
                    "location": {
                        "x": 367.42327880859375,
                        "y": 5117.90234375,
                        "z": 369.1702575683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.15457400679588318,
                        "yaw": -10.790361404418945
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -2.450000286102295
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.12213750183582306,
        "expert_target_speed": 10.0,
        "target_point": [
            53.299993247028404,
            1.3352556247500402
        ],
        "target_point_next": [
            64.38915255671749,
            2.145209425772247
        ]
    },
    "140": {
        "acceleration": [
            -3.3021926879882812,
            0.5935096740722656,
            0.0020392239093780518
        ],
        "angular_velocity": [
            -0.23838406801223755,
            -0.01166975125670433,
            1.2406282424926758
        ],
        "forward_vector": [
            -0.964962363243103,
            0.26238635182380676,
            0.00098597991745919
        ],
        "right_vector": [
            -0.26238545775413513,
            -0.9649626612663269,
            0.0009246488916687667
        ],
        "location": [
            423.6900939941406,
            5097.7275390625,
            369.3105773925781
        ],
        "rotation": [
            -0.0529785118997097,
            0.05649249255657196,
            164.7882843017578
        ],
        "velocity": [
            -15.939934730529785,
            4.335296630859375,
            -0.09971076995134354
        ],
        "speed": 16.5189683724829,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 68.17576599121094,
        "front_vehicle_info": {
            "id": 18836,
            "type": "vehicle.bh.crossbike",
            "location": [
                359.80987548828125,
                5121.54345703125,
                369.07525634765625
            ],
            "velocity": [
                3.4094536304473877,
                -0.5985692739486694,
                0.0020552920177578926
            ],
            "speed_kmh": 12.461754227119318,
            "color": "0,112,39"
        },
        "other_vehicles": [
            {
                "id": 18838,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 2.307480573654175,
                "transform": {
                    "location": {
                        "x": 328.1867980957031,
                        "y": 5125.60546875,
                        "z": 369.0969543457031
                    },
                    "rotation": {
                        "roll": 0.003742918837815523,
                        "pitch": -0.38732635974884033,
                        "yaw": -9.842785835266113
                    }
                },
                "velocity": {
                    "x": 2.2734975814819336,
                    "y": -0.3945481777191162,
                    "z": -0.0025984954554587603
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 18837,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 2.4713351726531982,
                "transform": {
                    "location": {
                        "x": 392.8255310058594,
                        "y": 5114.6640625,
                        "z": 369.1440124511719
                    },
                    "rotation": {
                        "roll": -0.0001831042900448665,
                        "pitch": 0.23524536192417145,
                        "yaw": -13.510791778564453
                    }
                },
                "velocity": {
                    "x": 2.40303635597229,
                    "y": -0.5769548416137695,
                    "z": 0.006113452836871147
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 18836,
                "type": "vehicle.bh.crossbike",
                "speed_kmh": 3.4615983963012695,
                "transform": {
                    "location": {
                        "x": 359.80987548828125,
                        "y": 5121.54345703125,
                        "z": 369.07525634765625
                    },
                    "rotation": {
                        "roll": -0.097320556640625,
                        "pitch": 0.022491810843348503,
                        "yaw": -9.746657371520996
                    }
                },
                "velocity": {
                    "x": 3.4094536304473877,
                    "y": -0.5985692739486694,
                    "z": 0.0020552920177578926
                },
                "bounding_box_extent": {
                    "x": 0.7546613812446594,
                    "y": 0.4329703152179718,
                    "z": 0.8061768412590027
                }
            },
            {
                "id": 18835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.837227821350098,
                "transform": {
                    "location": {
                        "x": 410.4205017089844,
                        "y": 5107.8740234375,
                        "z": 369.23272705078125
                    },
                    "rotation": {
                        "roll": 0.008358466438949108,
                        "pitch": 0.5489013195037842,
                        "yaw": -15.160757064819336
                    }
                },
                "velocity": {
                    "x": 8.532723426818848,
                    "y": -2.299463987350464,
                    "z": 0.04128307104110718
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 18834,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.092348098754883,
                "transform": {
                    "location": {
                        "x": 410.5847473144531,
                        "y": 5104.462890625,
                        "z": 369.23046875
                    },
                    "rotation": {
                        "roll": 0.0012664104579016566,
                        "pitch": 0.2703593671321869,
                        "yaw": -15.054523468017578
                    }
                },
                "velocity": {
                    "x": 7.813873291015625,
                    "y": -2.104301929473877,
                    "z": 0.037249431014060974
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 18827,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.019476890563965,
                "transform": {
                    "location": {
                        "x": 452.0255432128906,
                        "y": 5096.6162109375,
                        "z": 369.4860534667969
                    },
                    "rotation": {
                        "roll": 0.0007818379090167582,
                        "pitch": 0.38957348465919495,
                        "yaw": -15.31700611114502
                    }
                },
                "velocity": {
                    "x": 7.732874393463135,
                    "y": -2.1240673065185547,
                    "z": 0.054696835577487946
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18826,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.069570541381836,
                "transform": {
                    "location": {
                        "x": 451.98150634765625,
                        "y": 5093.25390625,
                        "z": 369.48785400390625
                    },
                    "rotation": {
                        "roll": 9.902341844281182e-05,
                        "pitch": 0.39546793699264526,
                        "yaw": -15.377245903015137
                    }
                },
                "velocity": {
                    "x": 7.77980375289917,
                    "y": -2.1422886848449707,
                    "z": 0.056710049510002136
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18825,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.6310296058654785,
                "transform": {
                    "location": {
                        "x": 468.18121337890625,
                        "y": 5081.5380859375,
                        "z": 369.64166259765625
                    },
                    "rotation": {
                        "roll": -0.006500246934592724,
                        "pitch": -0.5334172248840332,
                        "yaw": 163.29185485839844
                    }
                },
                "velocity": {
                    "x": -3.471012830734253,
                    "y": 1.065712332725525,
                    "z": -0.026508668437600136
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18824,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.171194076538086,
                "transform": {
                    "location": {
                        "x": 450.75189208984375,
                        "y": 5086.630859375,
                        "z": 369.5018005371094
                    },
                    "rotation": {
                        "roll": -0.006683351472020149,
                        "pitch": -0.3457919657230377,
                        "yaw": 164.50689697265625
                    }
                },
                "velocity": {
                    "x": -7.876319885253906,
                    "y": 2.1745617389678955,
                    "z": -0.05722706764936447
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18840,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.23011019825935364,
                "transform": {
                    "location": {
                        "x": 366.8150939941406,
                        "y": 5114.7099609375,
                        "z": 369.05029296875
                    },
                    "rotation": {
                        "roll": 5.1583454478532076e-05,
                        "pitch": 0.15406173467636108,
                        "yaw": -10.790361404418945
                    }
                },
                "velocity": {
                    "x": -0.0005999027052894235,
                    "y": 0.00014919627574272454,
                    "z": 0.23010936379432678
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18821,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.1274847984313965,
                "transform": {
                    "location": {
                        "x": 480.1817321777344,
                        "y": 5081.1953125,
                        "z": 369.7244873046875
                    },
                    "rotation": {
                        "roll": -0.0011596715776249766,
                        "pitch": -0.6453230381011963,
                        "yaw": 162.49913024902344
                    }
                },
                "velocity": {
                    "x": -4.890713691711426,
                    "y": 1.5396041870117188,
                    "z": -0.040498651564121246
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18820,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.458619594573975,
                "transform": {
                    "location": {
                        "x": 463.43212890625,
                        "y": 5086.3916015625,
                        "z": 369.5847473144531
                    },
                    "rotation": {
                        "roll": -0.0029907275456935167,
                        "pitch": -0.4160473048686981,
                        "yaw": 163.3789825439453
                    }
                },
                "velocity": {
                    "x": -7.149820327758789,
                    "y": 2.1232173442840576,
                    "z": -0.05499348044395447
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18841,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.15449313819408417,
                "transform": {
                    "location": {
                        "x": 367.4234924316406,
                        "y": 5117.90234375,
                        "z": 369.0539245605469
                    },
                    "rotation": {
                        "roll": 0.0005235068965703249,
                        "pitch": 0.15443739295005798,
                        "yaw": -10.79039192199707
                    }
                },
                "velocity": {
                    "x": -0.00041651600622572005,
                    "y": 3.3040152629837394e-05,
                    "z": 0.1544925719499588
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.11205172538757324,
        "expert_target_speed": 10.0,
        "target_point": [
            49.27797939819308,
            1.1149036747994305
        ],
        "target_point_next": [
            60.370507436451206,
            1.8773347050648805
        ]
    },
    "145": {
        "acceleration": [
            -3.2589340209960938,
            0.4754829406738281,
            -0.005630999803543091
        ],
        "angular_velocity": [
            -0.154394268989563,
            0.1828531175851822,
            1.3503003120422363
        ],
        "forward_vector": [
            -0.9664453864097595,
            0.25686994194984436,
            0.0010149477748200297
        ],
        "right_vector": [
            -0.2568679749965668,
            -0.9664449095726013,
            0.0017757940804585814
        ],
        "location": [
            419.59912109375,
            5098.82958984375,
            369.2851867675781
        ],
        "rotation": [
            -0.1017456129193306,
            0.058152228593826294,
            165.11557006835938
        ],
        "velocity": [
            -16.756006240844727,
            4.463890552520752,
            -0.09993913769721985
        ],
        "speed": 17.34041706557577,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 63.116798400878906,
        "front_vehicle_info": {
            "id": 18836,
            "type": "vehicle.bh.crossbike",
            "location": [
                360.6539611816406,
                5121.39404296875,
                369.0762023925781
            ],
            "velocity": [
                3.345388650894165,
                -0.5944333672523499,
                0.0028949736151844263
            ],
            "speed_kmh": 12.232048105824575,
            "color": "0,112,39"
        },
        "other_vehicles": [
            {
                "id": 18838,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 2.304692029953003,
                "transform": {
                    "location": {
                        "x": 328.7515563964844,
                        "y": 5125.50732421875,
                        "z": 369.09613037109375
                    },
                    "rotation": {
                        "roll": 0.0062641119584441185,
                        "pitch": -0.36886435747146606,
                        "yaw": -9.844829559326172
                    }
                },
                "velocity": {
                    "x": 2.270779609680176,
                    "y": -0.3939022123813629,
                    "z": -0.0025187968276441097
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 18837,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 2.663954019546509,
                "transform": {
                    "location": {
                        "x": 393.4506530761719,
                        "y": 5114.5107421875,
                        "z": 369.1459045410156
                    },
                    "rotation": {
                        "roll": -0.00616455078125,
                        "pitch": 0.27688220143318176,
                        "yaw": -13.671741485595703
                    }
                },
                "velocity": {
                    "x": 2.5900862216949463,
                    "y": -0.6229500770568848,
                    "z": 0.006157483905553818
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 18836,
                "type": "vehicle.bh.crossbike",
                "speed_kmh": 3.3977911472320557,
                "transform": {
                    "location": {
                        "x": 360.6539611816406,
                        "y": 5121.39404296875,
                        "z": 369.0762023925781
                    },
                    "rotation": {
                        "roll": 0.03636740893125534,
                        "pitch": 0.07524818927049637,
                        "yaw": -9.795820236206055
                    }
                },
                "velocity": {
                    "x": 3.345388650894165,
                    "y": -0.5944333672523499,
                    "z": 0.0028949736151844263
                },
                "bounding_box_extent": {
                    "x": 0.7546613812446594,
                    "y": 0.4329703152179718,
                    "z": 0.8061768412590027
                }
            },
            {
                "id": 18835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.208806991577148,
                "transform": {
                    "location": {
                        "x": 412.4697570800781,
                        "y": 5107.3212890625,
                        "z": 369.24603271484375
                    },
                    "rotation": {
                        "roll": 0.005775601137429476,
                        "pitch": 0.1668820083141327,
                        "yaw": -15.146045684814453
                    }
                },
                "velocity": {
                    "x": 7.924809455871582,
                    "y": -2.1401257514953613,
                    "z": 0.041999854147434235
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 18834,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.021869659423828,
                "transform": {
                    "location": {
                        "x": 412.5264892578125,
                        "y": 5103.939453125,
                        "z": 369.2405700683594
                    },
                    "rotation": {
                        "roll": 0.00019613048061728477,
                        "pitch": 0.3000570237636566,
                        "yaw": -15.090902328491211
                    }
                },
                "velocity": {
                    "x": 7.744637489318848,
                    "y": -2.0902581214904785,
                    "z": 0.04247742518782616
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 18827,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.987497806549072,
                "transform": {
                    "location": {
                        "x": 453.95458984375,
                        "y": 5096.0859375,
                        "z": 369.4996643066406
                    },
                    "rotation": {
                        "roll": 0.0010630607139319181,
                        "pitch": 0.39953872561454773,
                        "yaw": -15.42546272277832
                    }
                },
                "velocity": {
                    "x": 7.699939250946045,
                    "y": -2.123188018798828,
                    "z": 0.05592513829469681
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18826,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.016489028930664,
                "transform": {
                    "location": {
                        "x": 453.9194030761719,
                        "y": 5092.7177734375,
                        "z": 369.5018310546875
                    },
                    "rotation": {
                        "roll": 0.007859827019274235,
                        "pitch": 0.4028308689594269,
                        "yaw": -15.498917579650879
                    }
                },
                "velocity": {
                    "x": 7.7165985107421875,
                    "y": -2.1714303493499756,
                    "z": 0.055639274418354034
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18825,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.756162166595459,
                "transform": {
                    "location": {
                        "x": 467.17236328125,
                        "y": 5081.8466796875,
                        "z": 369.6338195800781
                    },
                    "rotation": {
                        "roll": -0.0031433063559234142,
                        "pitch": -0.5513942837715149,
                        "yaw": 163.14581298828125
                    }
                },
                "velocity": {
                    "x": -4.54649019241333,
                    "y": 1.396118402481079,
                    "z": -0.03689282760024071
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18824,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.914984226226807,
                "transform": {
                    "location": {
                        "x": 448.8289794921875,
                        "y": 5087.15966796875,
                        "z": 369.4879150390625
                    },
                    "rotation": {
                        "roll": -0.005645751021802425,
                        "pitch": -0.4075573682785034,
                        "yaw": 164.64208984375
                    }
                },
                "velocity": {
                    "x": -7.6329569816589355,
                    "y": 2.0932769775390625,
                    "z": -0.0559566356241703
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18840,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.238458514213562,
                "transform": {
                    "location": {
                        "x": 366.8189697265625,
                        "y": 5114.708984375,
                        "z": 369.080078125
                    },
                    "rotation": {
                        "roll": -0.00036621189792640507,
                        "pitch": 0.15654109418392181,
                        "yaw": -10.790177345275879
                    }
                },
                "velocity": {
                    "x": 0.23155143857002258,
                    "y": -0.04368254542350769,
                    "z": 0.03658181056380272
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18821,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.166884899139404,
                "transform": {
                    "location": {
                        "x": 478.9697570800781,
                        "y": 5081.57666015625,
                        "z": 369.71490478515625
                    },
                    "rotation": {
                        "roll": 0.0002605502959340811,
                        "pitch": -0.483556866645813,
                        "yaw": 162.55194091796875
                    }
                },
                "velocity": {
                    "x": -4.928447246551514,
                    "y": 1.5509588718414307,
                    "z": -0.040400028228759766
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18820,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.527349472045898,
                "transform": {
                    "location": {
                        "x": 461.5499267578125,
                        "y": 5086.95068359375,
                        "z": 369.5699462890625
                    },
                    "rotation": {
                        "roll": 0.0008342867949977517,
                        "pitch": -0.39544743299484253,
                        "yaw": 163.55189514160156
                    }
                },
                "velocity": {
                    "x": -8.177963256835938,
                    "y": 2.41510272026062,
                    "z": -0.062376368790864944
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18841,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.298134207725525,
                "transform": {
                    "location": {
                        "x": 367.5380859375,
                        "y": 5117.88037109375,
                        "z": 369.081787109375
                    },
                    "rotation": {
                        "roll": 0.00020703085465356708,
                        "pitch": 0.361043781042099,
                        "yaw": -10.785966873168945
                    }
                },
                "velocity": {
                    "x": 1.2741682529449463,
                    "y": -0.24114765226840973,
                    "z": 0.05912341922521591
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.09553221613168716,
        "expert_target_speed": 10.0,
        "target_point": [
            45.046755795553175,
            0.8476352251043888
        ],
        "target_point_next": [
            56.14345788161315,
            1.5466932832701588
        ]
    },
    "150": {
        "acceleration": [
            -3.2321548461914062,
            0.61614990234375,
            -0.010396093130111694
        ],
        "angular_velocity": [
            0.04218517243862152,
            -0.04304581135511398,
            0.6343439221382141
        ],
        "forward_vector": [
            -0.9677101969718933,
            0.25206324458122253,
            0.0010592935141175985
        ],
        "right_vector": [
            -0.2520608603954315,
            -0.9677093625068665,
            0.0019835196435451508
        ],
        "location": [
            415.3045959472656,
            5099.962890625,
            369.2602233886719
        ],
        "rotation": [
            -0.1136474460363388,
            0.060693059116601944,
            165.40036010742188
        ],
        "velocity": [
            -17.567935943603516,
            4.59699010848999,
            -0.10051921010017395
        ],
        "speed": 18.159424312904612,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 57.864654541015625,
        "front_vehicle_info": {
            "id": 18836,
            "type": "vehicle.bh.crossbike",
            "location": [
                361.4949645996094,
                5121.2421875,
                369.0771789550781
            ],
            "velocity": [
                3.3854217529296875,
                -0.6032686233520508,
                0.0033173561096191406
            ],
            "speed_kmh": 12.379511997105892,
            "color": "0,112,39"
        },
        "other_vehicles": [
            {
                "id": 18847,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 361.5533447265625,
                        "y": 5169.19091796875,
                        "z": 369.0838317871094
                    },
                    "rotation": {
                        "roll": -1.3340492266422643e-08,
                        "pitch": 0.3706333637237549,
                        "yaw": -90.3166732788086
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18846,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 310.4577941894531,
                        "y": 5122.4140625,
                        "z": 369.5287780761719
                    },
                    "rotation": {
                        "roll": 8.337646684175581e-10,
                        "pitch": -0.1043994352221489,
                        "yaw": -6.458654403686523
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 310.8645935058594,
                        "y": 5125.63818359375,
                        "z": 369.5287780761719
                    },
                    "rotation": {
                        "roll": 8.337646684175581e-10,
                        "pitch": -0.1043994352221489,
                        "yaw": -6.458654403686523
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18844,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 358.7550048828125,
                        "y": 5160.45556640625,
                        "z": 368.90582275390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3753666877746582,
                        "yaw": 89.6833267211914
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 18843,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 358.8379211425781,
                        "y": 5175.455078125,
                        "z": 368.8085021972656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.361173540353775,
                        "yaw": 89.68331909179688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18838,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 2.5370912551879883,
                "transform": {
                    "location": {
                        "x": 329.3484191894531,
                        "y": 5125.40380859375,
                        "z": 369.0950622558594
                    },
                    "rotation": {
                        "roll": 0.005639940034598112,
                        "pitch": -0.4965479075908661,
                        "yaw": -9.845685958862305
                    }
                },
                "velocity": {
                    "x": 2.499730110168457,
                    "y": -0.4337817430496216,
                    "z": -0.0038818358443677425
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 18837,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 2.8891661167144775,
                "transform": {
                    "location": {
                        "x": 394.115234375,
                        "y": 5114.34814453125,
                        "z": 369.1478576660156
                    },
                    "rotation": {
                        "roll": -0.000854493526276201,
                        "pitch": 0.2710970342159271,
                        "yaw": -13.72789478302002
                    }
                },
                "velocity": {
                    "x": 2.8063981533050537,
                    "y": -0.6865439414978027,
                    "z": 0.00819944404065609
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 18836,
                "type": "vehicle.bh.crossbike",
                "speed_kmh": 3.438753366470337,
                "transform": {
                    "location": {
                        "x": 361.4949645996094,
                        "y": 5121.2421875,
                        "z": 369.0771789550781
                    },
                    "rotation": {
                        "roll": -0.0391845665872097,
                        "pitch": 0.05602120980620384,
                        "yaw": -9.880233764648438
                    }
                },
                "velocity": {
                    "x": 3.3854217529296875,
                    "y": -0.6032686233520508,
                    "z": 0.0033173561096191406
                },
                "bounding_box_extent": {
                    "x": 0.7546613812446594,
                    "y": 0.4329703152179718,
                    "z": 0.8061768412590027
                }
            },
            {
                "id": 18835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.875823020935059,
                "transform": {
                    "location": {
                        "x": 414.3999938964844,
                        "y": 5106.7998046875,
                        "z": 369.2566833496094
                    },
                    "rotation": {
                        "roll": 0.001239050063304603,
                        "pitch": 0.18019403517246246,
                        "yaw": -15.15214729309082
                    }
                },
                "velocity": {
                    "x": 7.602514266967773,
                    "y": -2.056370735168457,
                    "z": 0.04133200645446777
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 18834,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.096722602844238,
                "transform": {
                    "location": {
                        "x": 414.47296142578125,
                        "y": 5103.4140625,
                        "z": 369.2513122558594
                    },
                    "rotation": {
                        "roll": 0.0015383785357698798,
                        "pitch": 0.3283271789550781,
                        "yaw": -15.102681159973145
                    }
                },
                "velocity": {
                    "x": 7.816956520080566,
                    "y": -2.1095046997070312,
                    "z": 0.04587940126657486
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 18827,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.019356727600098,
                "transform": {
                    "location": {
                        "x": 455.8822937011719,
                        "y": 5095.5498046875,
                        "z": 369.5137939453125
                    },
                    "rotation": {
                        "roll": 0.0028142505325376987,
                        "pitch": 0.4023869037628174,
                        "yaw": -15.64146900177002
                    }
                },
                "velocity": {
                    "x": 7.719119548797607,
                    "y": -2.1730258464813232,
                    "z": 0.05693158134818077
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18826,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.069392204284668,
                "transform": {
                    "location": {
                        "x": 455.8551025390625,
                        "y": 5092.1728515625,
                        "z": 369.5160827636719
                    },
                    "rotation": {
                        "roll": 0.0032380823977291584,
                        "pitch": 0.40969520807266235,
                        "yaw": -15.751238822937012
                    }
                },
                "velocity": {
                    "x": 7.763675212860107,
                    "y": -2.199349880218506,
                    "z": 0.057454679161310196
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18825,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.2536492347717285,
                "transform": {
                    "location": {
                        "x": 465.9422302246094,
                        "y": 5082.2236328125,
                        "z": 369.6238098144531
                    },
                    "rotation": {
                        "roll": -0.001495361328125,
                        "pitch": -0.49962830543518066,
                        "yaw": 163.03489685058594
                    }
                },
                "velocity": {
                    "x": -5.022219657897949,
                    "y": 1.5415791273117065,
                    "z": -0.040906742215156555
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18824,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.125996589660645,
                "transform": {
                    "location": {
                        "x": 446.8919677734375,
                        "y": 5087.68994140625,
                        "z": 369.4742736816406
                    },
                    "rotation": {
                        "roll": -0.003051755717024207,
                        "pitch": -0.3651077449321747,
                        "yaw": 164.69305419921875
                    }
                },
                "velocity": {
                    "x": -7.837510108947754,
                    "y": 2.145319700241089,
                    "z": -0.053403761237859726
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18840,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.3903979063034058,
                "transform": {
                    "location": {
                        "x": 367.0586242675781,
                        "y": 5114.66357421875,
                        "z": 369.0823059082031
                    },
                    "rotation": {
                        "roll": -0.0011901851976290345,
                        "pitch": 0.1883356273174286,
                        "yaw": -10.736588478088379
                    }
                },
                "velocity": {
                    "x": 1.3665168285369873,
                    "y": -0.25658509135246277,
                    "z": 0.0014997863909229636
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18821,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.024181365966797,
                "transform": {
                    "location": {
                        "x": 477.571044921875,
                        "y": 5082.015625,
                        "z": 369.70404052734375
                    },
                    "rotation": {
                        "roll": -0.0015563926426693797,
                        "pitch": -0.20696838200092316,
                        "yaw": 162.6158447265625
                    }
                },
                "velocity": {
                    "x": -6.701625347137451,
                    "y": 2.103456497192383,
                    "z": -0.0530141182243824
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18820,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.452924728393555,
                "transform": {
                    "location": {
                        "x": 459.4774475097656,
                        "y": 5087.556640625,
                        "z": 369.55419921875
                    },
                    "rotation": {
                        "roll": -0.005310057196766138,
                        "pitch": -0.41491347551345825,
                        "yaw": 163.8373565673828
                    }
                },
                "velocity": {
                    "x": -8.121262550354004,
                    "y": 2.3437488079071045,
                    "z": -0.06226125732064247
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18841,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.6905195713043213,
                "transform": {
                    "location": {
                        "x": 368.02984619140625,
                        "y": 5117.7880859375,
                        "z": 369.0895690917969
                    },
                    "rotation": {
                        "roll": -0.0037536611780524254,
                        "pitch": 0.43646273016929626,
                        "yaw": -10.680678367614746
                    }
                },
                "velocity": {
                    "x": 2.6442325115203857,
                    "y": -0.496642142534256,
                    "z": 0.016617946326732635
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.07863987237215042,
        "expert_target_speed": 10.0,
        "target_point": [
            40.60889085087835,
            0.6379360448480398
        ],
        "target_point_next": [
            51.70893054669077,
            1.2818289760432648
        ]
    },
    "155": {
        "acceleration": [
            -3.2306289672851562,
            0.7421588897705078,
            0.025255978107452393
        ],
        "angular_velocity": [
            0.22284069657325745,
            0.3193971812725067,
            0.11621586233377457
        ],
        "forward_vector": [
            -0.968005359172821,
            0.2509252727031708,
            0.0014462466351687908
        ],
        "right_vector": [
            -0.25092336535453796,
            -0.9680059552192688,
            0.0013832435943186283
        ],
        "location": [
            410.8076477050781,
            5101.134765625,
            369.2348327636719
        ],
        "rotation": [
            -0.0792541354894638,
            0.08286385238170624,
            165.46771240234375
        ],
        "velocity": [
            -18.374866485595703,
            4.770868301391602,
            -0.09782171994447708
        ],
        "speed": 18.98412238457947,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 52.42198181152344,
        "front_vehicle_info": {
            "id": 18836,
            "type": "vehicle.bh.crossbike",
            "location": [
                362.3331604003906,
                5121.09130859375,
                369.07818603515625
            ],
            "velocity": [
                3.324073076248169,
                -0.6024227142333984,
                0.0050733755342662334
            ],
            "speed_kmh": 12.161608151833413,
            "color": "0,112,39"
        },
        "other_vehicles": [
            {
                "id": 18847,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 361.5533447265625,
                        "y": 5169.19091796875,
                        "z": 369.0838317871094
                    },
                    "rotation": {
                        "roll": -1.3340492266422643e-08,
                        "pitch": 0.3706333637237549,
                        "yaw": -90.3166732788086
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18846,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 310.4577941894531,
                        "y": 5122.4140625,
                        "z": 369.5287780761719
                    },
                    "rotation": {
                        "roll": 8.337646684175581e-10,
                        "pitch": -0.1043994352221489,
                        "yaw": -6.458654403686523
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 310.8645935058594,
                        "y": 5125.63818359375,
                        "z": 369.5287780761719
                    },
                    "rotation": {
                        "roll": 8.337646684175581e-10,
                        "pitch": -0.1043994352221489,
                        "yaw": -6.458654403686523
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18844,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 358.7596435546875,
                        "y": 5161.28759765625,
                        "z": 368.8651428222656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3753666877746582,
                        "yaw": 89.6833267211914
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 18843,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 358.8379211425781,
                        "y": 5175.455078125,
                        "z": 368.8085021972656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.361173540353775,
                        "yaw": 89.68331909179688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18838,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 2.769155502319336,
                "transform": {
                    "location": {
                        "x": 330.00286865234375,
                        "y": 5125.2900390625,
                        "z": 369.09405517578125
                    },
                    "rotation": {
                        "roll": 0.00513971783220768,
                        "pitch": -0.526942253112793,
                        "yaw": -9.845746994018555
                    }
                },
                "velocity": {
                    "x": 2.728416919708252,
                    "y": -0.47321832180023193,
                    "z": -0.005305271130055189
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 18837,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.0960652828216553,
                "transform": {
                    "location": {
                        "x": 394.84393310546875,
                        "y": 5114.16845703125,
                        "z": 369.15032958984375
                    },
                    "rotation": {
                        "roll": -0.1084899753332138,
                        "pitch": 0.2934180796146393,
                        "yaw": -13.96574878692627
                    }
                },
                "velocity": {
                    "x": 2.993403673171997,
                    "y": -0.7906044721603394,
                    "z": 0.00997997261583805
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 18836,
                "type": "vehicle.bh.crossbike",
                "speed_kmh": 3.3782243728637695,
                "transform": {
                    "location": {
                        "x": 362.3331604003906,
                        "y": 5121.09130859375,
                        "z": 369.07818603515625
                    },
                    "rotation": {
                        "roll": 0.004630225710570812,
                        "pitch": 0.0866614356637001,
                        "yaw": -9.96577262878418
                    }
                },
                "velocity": {
                    "x": 3.324073076248169,
                    "y": -0.6024227142333984,
                    "z": 0.0050733755342662334
                },
                "bounding_box_extent": {
                    "x": 0.7546613812446594,
                    "y": 0.4329703152179718,
                    "z": 0.8061768412590027
                }
            },
            {
                "id": 18835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.078364372253418,
                "transform": {
                    "location": {
                        "x": 416.3206787109375,
                        "y": 5106.2802734375,
                        "z": 369.26611328125
                    },
                    "rotation": {
                        "roll": -0.000854488171171397,
                        "pitch": 0.3674573302268982,
                        "yaw": -15.110342979431152
                    }
                },
                "velocity": {
                    "x": 7.798449993133545,
                    "y": -2.107630491256714,
                    "z": 0.04521186649799347
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 18834,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.040165901184082,
                "transform": {
                    "location": {
                        "x": 416.420654296875,
                        "y": 5102.88818359375,
                        "z": 369.2628173828125
                    },
                    "rotation": {
                        "roll": 0.0016214719507843256,
                        "pitch": 0.3234845697879791,
                        "yaw": -15.113513946533203
                    }
                },
                "velocity": {
                    "x": 7.761692523956299,
                    "y": -2.0972390174865723,
                    "z": 0.04465509206056595
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 18827,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.987278461456299,
                "transform": {
                    "location": {
                        "x": 457.80804443359375,
                        "y": 5095.0068359375,
                        "z": 369.5278015136719
                    },
                    "rotation": {
                        "roll": 0.0017761479830369353,
                        "pitch": 0.4100094139575958,
                        "yaw": -15.850236892700195
                    }
                },
                "velocity": {
                    "x": 7.683616638183594,
                    "y": -2.1806998252868652,
                    "z": 0.05660555884242058
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18826,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.017610549926758,
                "transform": {
                    "location": {
                        "x": 457.7896423339844,
                        "y": 5091.625,
                        "z": 369.53045654296875
                    },
                    "rotation": {
                        "roll": 0.0023331239353865385,
                        "pitch": 0.4140392243862152,
                        "yaw": -15.831742286682129
                    }
                },
                "velocity": {
                    "x": 7.7128143310546875,
                    "y": -2.188913583755493,
                    "z": 0.05680207163095474
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18825,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.941591739654541,
                "transform": {
                    "location": {
                        "x": 464.5848693847656,
                        "y": 5082.634765625,
                        "z": 369.61273193359375
                    },
                    "rotation": {
                        "roll": 0.00935464259237051,
                        "pitch": -0.4922448694705963,
                        "yaw": 163.05392456054688
                    }
                },
                "velocity": {
                    "x": -5.692866802215576,
                    "y": 1.7004971504211426,
                    "z": -0.04573850706219673
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18824,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.048811912536621,
                "transform": {
                    "location": {
                        "x": 444.9382019042969,
                        "y": 5088.22314453125,
                        "z": 369.4607238769531
                    },
                    "rotation": {
                        "roll": -0.0033264129888266325,
                        "pitch": -0.39141762256622314,
                        "yaw": 164.73777770996094
                    }
                },
                "velocity": {
                    "x": -7.7655558586120605,
                    "y": 2.115842819213867,
                    "z": -0.052242498844861984
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18840,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.959518313407898,
                "transform": {
                    "location": {
                        "x": 367.4800720214844,
                        "y": 5114.58349609375,
                        "z": 369.0830383300781
                    },
                    "rotation": {
                        "roll": 0.0006486859056167305,
                        "pitch": 0.1753377765417099,
                        "yaw": -10.647903442382812
                    }
                },
                "velocity": {
                    "x": 1.9258627891540527,
                    "y": -0.36160197854042053,
                    "z": 0.002964181825518608
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18821,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.205099105834961,
                "transform": {
                    "location": {
                        "x": 475.73876953125,
                        "y": 5082.5908203125,
                        "z": 369.68939208984375
                    },
                    "rotation": {
                        "roll": -0.003021235577762127,
                        "pitch": -0.22954899072647095,
                        "yaw": 162.66615295410156
                    }
                },
                "velocity": {
                    "x": -7.828855037689209,
                    "y": 2.4553592205047607,
                    "z": -0.06238695606589317
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18820,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.079378128051758,
                "transform": {
                    "location": {
                        "x": 457.49822998046875,
                        "y": 5088.126953125,
                        "z": 369.53936767578125
                    },
                    "rotation": {
                        "roll": -0.0033264202065765858,
                        "pitch": -0.42525437474250793,
                        "yaw": 164.0840606689453
                    }
                },
                "velocity": {
                    "x": -7.768247127532959,
                    "y": 2.2196948528289795,
                    "z": -0.060331620275974274
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18841,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.226628303527832,
                "transform": {
                    "location": {
                        "x": 368.889404296875,
                        "y": 5117.62646484375,
                        "z": 369.0928955078125
                    },
                    "rotation": {
                        "roll": -0.0008239757153205574,
                        "pitch": 0.46825042366981506,
                        "yaw": -10.663344383239746
                    }
                },
                "velocity": {
                    "x": 4.1538214683532715,
                    "y": -0.7810089588165283,
                    "z": 0.013381719589233398
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.0662531852722168,
        "expert_target_speed": 10.0,
        "target_point": [
            35.9624849111362,
            0.5961717920860821
        ],
        "target_point_next": [
            47.06327407388966,
            1.227011961661395
        ]
    },
    "160": {
        "acceleration": [
            -2.03521728515625,
            0.6355667114257812,
            0.01807674765586853
        ],
        "angular_velocity": [
            0.11470618844032288,
            -0.3739250898361206,
            -0.5109532475471497
        ],
        "forward_vector": [
            -0.9677755832672119,
            0.25181394815444946,
            0.0003271102614235133
        ],
        "right_vector": [
            -0.2518137991428375,
            -0.9677755832672119,
            0.0004335625853855163
        ],
        "location": [
            406.1402587890625,
            5102.34716796875,
            369.2119445800781
        ],
        "rotation": [
            -0.02484130859375,
            0.018742037937045097,
            165.4151153564453
        ],
        "velocity": [
            -18.84080696105957,
            4.902906894683838,
            -0.08855285495519638
        ],
        "speed": 19.468294813923716,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 46.820884704589844,
        "front_vehicle_info": {
            "id": 18836,
            "type": "vehicle.bh.crossbike",
            "location": [
                363.1692810058594,
                5120.939453125,
                369.079833984375
            ],
            "velocity": [
                3.3645944595336914,
                -0.6158739328384399,
                0.0063346195966005325
            ],
            "speed_kmh": 12.31380865961521,
            "color": "0,112,39"
        },
        "other_vehicles": [
            {
                "id": 18847,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 361.5533447265625,
                        "y": 5169.19091796875,
                        "z": 369.0838317871094
                    },
                    "rotation": {
                        "roll": -1.3340492266422643e-08,
                        "pitch": 0.3706333637237549,
                        "yaw": -90.3166732788086
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18846,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 310.4577941894531,
                        "y": 5122.4140625,
                        "z": 369.5287780761719
                    },
                    "rotation": {
                        "roll": 8.337646684175581e-10,
                        "pitch": -0.1043994352221489,
                        "yaw": -6.458654403686523
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 310.8645935058594,
                        "y": 5125.63818359375,
                        "z": 369.5287780761719
                    },
                    "rotation": {
                        "roll": 8.337646684175581e-10,
                        "pitch": -0.1043994352221489,
                        "yaw": -6.458654403686523
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18844,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 358.7665100097656,
                        "y": 5162.53564453125,
                        "z": 368.8041076660156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3753666877746582,
                        "yaw": 89.6833267211914
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 18843,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 358.8379211425781,
                        "y": 5175.455078125,
                        "z": 368.8085021972656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.361173540353775,
                        "yaw": 89.68331909179688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18838,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.001156806945801,
                "transform": {
                    "location": {
                        "x": 330.714599609375,
                        "y": 5125.1669921875,
                        "z": 369.0928955078125
                    },
                    "rotation": {
                        "roll": 0.007262194994837046,
                        "pitch": -0.5322219729423523,
                        "yaw": -9.84596061706543
                    }
                },
                "velocity": {
                    "x": 2.956937789916992,
                    "y": -0.5132567286491394,
                    "z": -0.005416078492999077
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 18837,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.289134979248047,
                "transform": {
                    "location": {
                        "x": 395.6106872558594,
                        "y": 5113.9775390625,
                        "z": 369.1529541015625
                    },
                    "rotation": {
                        "roll": 0.00021602438937406987,
                        "pitch": 0.3019011616706848,
                        "yaw": -13.934527397155762
                    }
                },
                "velocity": {
                    "x": 3.1936538219451904,
                    "y": -0.7866896390914917,
                    "z": 0.01020278874784708
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 18836,
                "type": "vehicle.bh.crossbike",
                "speed_kmh": 3.4205024242401123,
                "transform": {
                    "location": {
                        "x": 363.1692810058594,
                        "y": 5120.939453125,
                        "z": 369.079833984375
                    },
                    "rotation": {
                        "roll": -0.0580139085650444,
                        "pitch": 0.11499305814504623,
                        "yaw": -10.046890258789062
                    }
                },
                "velocity": {
                    "x": 3.3645944595336914,
                    "y": -0.6158739328384399,
                    "z": 0.0063346195966005325
                },
                "bounding_box_extent": {
                    "x": 0.7546613812446594,
                    "y": 0.4329703152179718,
                    "z": 0.8061768412590027
                }
            },
            {
                "id": 18835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.153459548950195,
                "transform": {
                    "location": {
                        "x": 418.28802490234375,
                        "y": 5105.74853515625,
                        "z": 369.2777404785156
                    },
                    "rotation": {
                        "roll": -9.155589214060456e-05,
                        "pitch": 0.37995657324790955,
                        "yaw": -15.133380889892578
                    }
                },
                "velocity": {
                    "x": 7.871010780334473,
                    "y": -2.1269803047180176,
                    "z": 0.0451061986386776
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 18834,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.076905250549316,
                "transform": {
                    "location": {
                        "x": 418.3647155761719,
                        "y": 5102.36279296875,
                        "z": 369.2741394042969
                    },
                    "rotation": {
                        "roll": 0.0007228241884149611,
                        "pitch": 0.32248052954673767,
                        "yaw": -15.123523712158203
                    }
                },
                "velocity": {
                    "x": 7.797048568725586,
                    "y": -2.1072371006011963,
                    "z": 0.04461372271180153
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 18827,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.018537521362305,
                "transform": {
                    "location": {
                        "x": 459.7324523925781,
                        "y": 5094.45947265625,
                        "z": 369.54217529296875
                    },
                    "rotation": {
                        "roll": 0.003738323925063014,
                        "pitch": 0.4116145074367523,
                        "yaw": -16.001543045043945
                    }
                },
                "velocity": {
                    "x": 7.704076290130615,
                    "y": -2.22282338142395,
                    "z": 0.05665643513202667
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18826,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.069192886352539,
                "transform": {
                    "location": {
                        "x": 459.7215270996094,
                        "y": 5091.06591796875,
                        "z": 369.54498291015625
                    },
                    "rotation": {
                        "roll": 0.006209398619830608,
                        "pitch": 0.41563063859939575,
                        "yaw": -16.15913963317871
                    }
                },
                "velocity": {
                    "x": 7.744904041290283,
                    "y": -2.2638511657714844,
                    "z": 0.057558298110961914
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18825,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.502344131469727,
                "transform": {
                    "location": {
                        "x": 462.9842224121094,
                        "y": 5083.11376953125,
                        "z": 369.6007385253906
                    },
                    "rotation": {
                        "roll": 0.003502235282212496,
                        "pitch": -0.5848075747489929,
                        "yaw": 163.25599670410156
                    }
                },
                "velocity": {
                    "x": -7.188653945922852,
                    "y": 2.1459643840789795,
                    "z": -0.05707157775759697
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18824,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.031033515930176,
                "transform": {
                    "location": {
                        "x": 443.0032043457031,
                        "y": 5088.75,
                        "z": 369.447265625
                    },
                    "rotation": {
                        "roll": -0.0025329578202217817,
                        "pitch": -0.38906803727149963,
                        "yaw": 164.7845001220703
                    }
                },
                "velocity": {
                    "x": -7.749601364135742,
                    "y": 2.106745958328247,
                    "z": -0.052951425313949585
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18840,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.493352174758911,
                "transform": {
                    "location": {
                        "x": 368.0289001464844,
                        "y": 5114.48046875,
                        "z": 369.0843811035156
                    },
                    "rotation": {
                        "roll": 0.0020553225185722113,
                        "pitch": 0.17214807868003845,
                        "yaw": -10.642593383789062
                    }
                },
                "velocity": {
                    "x": 2.450458526611328,
                    "y": -0.46045684814453125,
                    "z": 0.006168880499899387
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18821,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.183419227600098,
                "transform": {
                    "location": {
                        "x": 473.7554931640625,
                        "y": 5083.21044921875,
                        "z": 369.67333984375
                    },
                    "rotation": {
                        "roll": -0.00494384067133069,
                        "pitch": -0.39580944180488586,
                        "yaw": 162.7666778564453
                    }
                },
                "velocity": {
                    "x": -7.810979843139648,
                    "y": 2.439882278442383,
                    "z": -0.06259731948375702
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18820,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.120491027832031,
                "transform": {
                    "location": {
                        "x": 455.6241760253906,
                        "y": 5088.65966796875,
                        "z": 369.525390625
                    },
                    "rotation": {
                        "roll": -0.005798343103379011,
                        "pitch": -0.44274649024009705,
                        "yaw": 164.27261352539062
                    }
                },
                "velocity": {
                    "x": -6.856137752532959,
                    "y": 1.9214907884597778,
                    "z": -0.051374200731515884
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18841,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.397914886474609,
                "transform": {
                    "location": {
                        "x": 370.1023864746094,
                        "y": 5117.3984375,
                        "z": 369.09661865234375
                    },
                    "rotation": {
                        "roll": 0.000783305789809674,
                        "pitch": 0.4284099340438843,
                        "yaw": -10.657852172851562
                    }
                },
                "velocity": {
                    "x": 5.305024147033691,
                    "y": -0.9969813227653503,
                    "z": 0.015300492756068707
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.05916722118854523,
        "expert_target_speed": 10.0,
        "target_point": [
            31.139636999693067,
            0.6272206727724727
        ],
        "target_point_next": [
            42.23984212484609,
            1.26825541050591
        ]
    },
    "165": {
        "acceleration": [
            -1.994476318359375,
            0.6600856781005859,
            0.0168609619140625
        ],
        "angular_velocity": [
            0.20585496723651886,
            -0.027130350470542908,
            -0.5178349018096924
        ],
        "forward_vector": [
            -0.967124342918396,
            0.25430023670196533,
            0.0013307328335940838
        ],
        "right_vector": [
            -0.254300981760025,
            -0.9671250581741333,
            -0.00040848192293196917
        ],
        "location": [
            401.3220520019531,
            5103.60595703125,
            369.1896667480469
        ],
        "rotation": [
            0.023404311388731003,
            0.07624539732933044,
            165.2678680419922
        ],
        "velocity": [
            -19.562557220458984,
            5.130514621734619,
            -0.08675787597894669
        ],
        "speed": 20.224139667426268,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 41.08369827270508,
        "front_vehicle_info": {
            "id": 18836,
            "type": "vehicle.bh.crossbike",
            "location": [
                364.0029296875,
                5120.78564453125,
                369.0817565917969
            ],
            "velocity": [
                3.305042266845703,
                -0.6106167435646057,
                0.0059873005375266075
            ],
            "speed_kmh": 12.09953147069744,
            "color": "0,112,39"
        },
        "other_vehicles": [
            {
                "id": 18847,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 361.5533447265625,
                        "y": 5169.19091796875,
                        "z": 369.0838317871094
                    },
                    "rotation": {
                        "roll": -1.3340492266422643e-08,
                        "pitch": 0.3706333637237549,
                        "yaw": -90.3166732788086
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18846,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 310.4577941894531,
                        "y": 5122.4140625,
                        "z": 369.5287780761719
                    },
                    "rotation": {
                        "roll": 8.337646684175581e-10,
                        "pitch": -0.1043994352221489,
                        "yaw": -6.458654403686523
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 310.8645935058594,
                        "y": 5125.63818359375,
                        "z": 369.5287780761719
                    },
                    "rotation": {
                        "roll": 8.337646684175581e-10,
                        "pitch": -0.1043994352221489,
                        "yaw": -6.458654403686523
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18844,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 358.7711181640625,
                        "y": 5163.36767578125,
                        "z": 368.7635192871094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3753666877746582,
                        "yaw": 89.6833267211914
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 18843,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 358.8379211425781,
                        "y": 5175.455078125,
                        "z": 368.8085021972656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.361173540353775,
                        "yaw": 89.68331909179688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18838,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1933648586273193,
                "transform": {
                    "location": {
                        "x": 331.47991943359375,
                        "y": 5125.03369140625,
                        "z": 369.0917053222656
                    },
                    "rotation": {
                        "roll": 0.006570691708475351,
                        "pitch": -0.5131794214248657,
                        "yaw": -9.84626579284668
                    }
                },
                "velocity": {
                    "x": 3.1463451385498047,
                    "y": -0.5459510684013367,
                    "z": -0.005361232440918684
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 18837,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.5161640644073486,
                "transform": {
                    "location": {
                        "x": 396.4393615722656,
                        "y": 5113.771484375,
                        "z": 369.1557312011719
                    },
                    "rotation": {
                        "roll": -0.0048217796720564365,
                        "pitch": 0.2862805426120758,
                        "yaw": -13.983938217163086
                    }
                },
                "velocity": {
                    "x": 3.411172389984131,
                    "y": -0.852759063243866,
                    "z": 0.01069515198469162
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 18836,
                "type": "vehicle.bh.crossbike",
                "speed_kmh": 3.3609812259674072,
                "transform": {
                    "location": {
                        "x": 364.0029296875,
                        "y": 5120.78564453125,
                        "z": 369.0817565917969
                    },
                    "rotation": {
                        "roll": -0.012359620071947575,
                        "pitch": 0.12036841362714767,
                        "yaw": -10.148697853088379
                    }
                },
                "velocity": {
                    "x": 3.305042266845703,
                    "y": -0.6106167435646057,
                    "z": 0.0059873005375266075
                },
                "bounding_box_extent": {
                    "x": 0.7546613812446594,
                    "y": 0.4329703152179718,
                    "z": 0.8061768412590027
                }
            },
            {
                "id": 18835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.03587532043457,
                "transform": {
                    "location": {
                        "x": 420.23944091796875,
                        "y": 5105.22119140625,
                        "z": 369.2897033691406
                    },
                    "rotation": {
                        "roll": 0.0006529222009703517,
                        "pitch": 0.29772794246673584,
                        "yaw": -15.10863208770752
                    }
                },
                "velocity": {
                    "x": 7.75747013092041,
                    "y": -2.0964040756225586,
                    "z": 0.04512763023376465
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 18834,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.050896644592285,
                "transform": {
                    "location": {
                        "x": 420.3114318847656,
                        "y": 5101.8369140625,
                        "z": 369.2855529785156
                    },
                    "rotation": {
                        "roll": 0.0007835164433345199,
                        "pitch": 0.32272642850875854,
                        "yaw": -15.130602836608887
                    }
                },
                "velocity": {
                    "x": 7.771676540374756,
                    "y": -2.1014130115509033,
                    "z": 0.04522440955042839
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 18827,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.986839294433594,
                "transform": {
                    "location": {
                        "x": 461.654052734375,
                        "y": 5093.90283203125,
                        "z": 369.55657958984375
                    },
                    "rotation": {
                        "roll": 0.004013296216726303,
                        "pitch": 0.4176933765411377,
                        "yaw": -16.26915168762207
                    }
                },
                "velocity": {
                    "x": 7.665140628814697,
                    "y": -2.243208408355713,
                    "z": 0.0569007582962513
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18826,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.017579078674316,
                "transform": {
                    "location": {
                        "x": 461.6512145996094,
                        "y": 5090.50244140625,
                        "z": 369.5596008300781
                    },
                    "rotation": {
                        "roll": 0.002834305400028825,
                        "pitch": 0.4223037362098694,
                        "yaw": -16.310867309570312
                    }
                },
                "velocity": {
                    "x": 7.693843364715576,
                    "y": -2.2545387744903564,
                    "z": 0.05839099735021591
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18825,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.316973686218262,
                "transform": {
                    "location": {
                        "x": 461.0567626953125,
                        "y": 5083.689453125,
                        "z": 369.5851135253906
                    },
                    "rotation": {
                        "roll": 0.0016595046035945415,
                        "pitch": -0.522031307220459,
                        "yaw": 163.35580444335938
                    }
                },
                "velocity": {
                    "x": -7.970286846160889,
                    "y": 2.3754494190216064,
                    "z": -0.061800915747880936
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18824,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.080363273620605,
                "transform": {
                    "location": {
                        "x": 441.05712890625,
                        "y": 5089.27880859375,
                        "z": 369.4339294433594
                    },
                    "rotation": {
                        "roll": -0.002319339197129011,
                        "pitch": -0.3753940165042877,
                        "yaw": 164.8050537109375
                    }
                },
                "velocity": {
                    "x": -7.798148155212402,
                    "y": 2.1162214279174805,
                    "z": -0.05263172835111618
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18840,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.0638515949249268,
                "transform": {
                    "location": {
                        "x": 368.7137756347656,
                        "y": 5114.3515625,
                        "z": 369.08624267578125
                    },
                    "rotation": {
                        "roll": 0.0013486015377566218,
                        "pitch": 0.1727149784564972,
                        "yaw": -10.639816284179688
                    }
                },
                "velocity": {
                    "x": 3.0111770629882812,
                    "y": -0.5656384825706482,
                    "z": 0.007174443919211626
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18821,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 471.7938232421875,
                        "y": 5083.9111328125,
                        "z": 369.6583557128906
                    },
                    "rotation": {
                        "roll": 1.3340600624189847e-08,
                        "pitch": -0.4368588626384735,
                        "yaw": 162.54737854003906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18820,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.858536243438721,
                "transform": {
                    "location": {
                        "x": 453.97125244140625,
                        "y": 5089.12255859375,
                        "z": 369.5130310058594
                    },
                    "rotation": {
                        "roll": -0.0013732925290241838,
                        "pitch": -0.42452356219291687,
                        "yaw": 164.47647094726562
                    }
                },
                "velocity": {
                    "x": -6.609071731567383,
                    "y": 1.8323006629943848,
                    "z": -0.0486224927008152
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18841,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.51283597946167,
                "transform": {
                    "location": {
                        "x": 371.43896484375,
                        "y": 5117.14599609375,
                        "z": 369.1001892089844
                    },
                    "rotation": {
                        "roll": 0.020246604457497597,
                        "pitch": 0.24619415402412415,
                        "yaw": -10.696061134338379
                    }
                },
                "velocity": {
                    "x": 5.4120073318481445,
                    "y": -1.0494499206542969,
                    "z": 0.013820122927427292
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.08029769361019135,
        "expert_target_speed": 10.0,
        "target_point": [
            26.15800228203001,
            0.6993760443774688
        ],
        "target_point_next": [
            37.2565235091765,
            1.3689325588206334
        ]
    },
    "170": {
        "acceleration": [
            0.32093048095703125,
            -0.10036468505859375,
            0.05696982145309448
        ],
        "angular_velocity": [
            -0.3024763762950897,
            -0.6298683285713196,
            0.2650351822376251
        ],
        "forward_vector": [
            -0.9670981764793396,
            0.2544030547142029,
            -0.0004963874234817922
        ],
        "right_vector": [
            -0.25440287590026855,
            -0.9670982956886292,
            -0.0003567419189494103
        ],
        "location": [
            396.403076171875,
            5104.8974609375,
            369.17034912109375
        ],
        "rotation": [
            0.020439807325601578,
            -0.02844090573489666,
            165.26177978515625
        ],
        "velocity": [
            -19.69044303894043,
            5.172516345977783,
            -0.07234781235456467
        ],
        "speed": 20.358498776166307,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 35.27241516113281,
        "front_vehicle_info": {
            "id": 18836,
            "type": "vehicle.bh.crossbike",
            "location": [
                364.83514404296875,
                5120.6328125,
                369.0834655761719
            ],
            "velocity": [
                3.3462319374084473,
                -0.6387026906013489,
                0.006198281887918711
            ],
            "speed_kmh": 12.263931282870605,
            "color": "0,112,39"
        },
        "other_vehicles": [
            {
                "id": 18847,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 361.5533447265625,
                        "y": 5169.19091796875,
                        "z": 369.0838317871094
                    },
                    "rotation": {
                        "roll": -1.3340492266422643e-08,
                        "pitch": 0.3706333637237549,
                        "yaw": -90.3166732788086
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18846,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 310.4577941894531,
                        "y": 5122.4140625,
                        "z": 369.5287780761719
                    },
                    "rotation": {
                        "roll": 8.337646684175581e-10,
                        "pitch": -0.1043994352221489,
                        "yaw": -6.458654403686523
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 310.8645935058594,
                        "y": 5125.63818359375,
                        "z": 369.5287780761719
                    },
                    "rotation": {
                        "roll": 8.337646684175581e-10,
                        "pitch": -0.1043994352221489,
                        "yaw": -6.458654403686523
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18844,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 358.7779846191406,
                        "y": 5164.6162109375,
                        "z": 368.73687744140625
                    },
                    "rotation": {
                        "roll": 1.3340492266422643e-08,
                        "pitch": -0.3706333637237549,
                        "yaw": 89.68331909179688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 18843,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 358.8379211425781,
                        "y": 5175.455078125,
                        "z": 368.8085021972656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.361173540353775,
                        "yaw": 89.68331909179688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18838,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.3235886096954346,
                "transform": {
                    "location": {
                        "x": 332.28436279296875,
                        "y": 5124.89404296875,
                        "z": 369.0904541015625
                    },
                    "rotation": {
                        "roll": 0.003736363025382161,
                        "pitch": -0.47729358077049255,
                        "yaw": -9.84596061706543
                    }
                },
                "velocity": {
                    "x": 3.274631977081299,
                    "y": -0.5683233141899109,
                    "z": -0.005934352520853281
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 18837,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.7095980644226074,
                "transform": {
                    "location": {
                        "x": 397.3158874511719,
                        "y": 5113.548828125,
                        "z": 369.15863037109375
                    },
                    "rotation": {
                        "roll": -0.017547613009810448,
                        "pitch": 0.3061290681362152,
                        "yaw": -14.203542709350586
                    }
                },
                "velocity": {
                    "x": 3.593033790588379,
                    "y": -0.9225306510925293,
                    "z": 0.012730713002383709
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 18836,
                "type": "vehicle.bh.crossbike",
                "speed_kmh": 3.4066474437713623,
                "transform": {
                    "location": {
                        "x": 364.83514404296875,
                        "y": 5120.6328125,
                        "z": 369.0834655761719
                    },
                    "rotation": {
                        "roll": -0.0322570763528347,
                        "pitch": 0.10561520606279373,
                        "yaw": -10.305951118469238
                    }
                },
                "velocity": {
                    "x": 3.3462319374084473,
                    "y": -0.6387026906013489,
                    "z": 0.006198281887918711
                },
                "bounding_box_extent": {
                    "x": 0.7546613812446594,
                    "y": 0.4329703152179718,
                    "z": 0.8061768412590027
                }
            },
            {
                "id": 18835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.044992446899414,
                "transform": {
                    "location": {
                        "x": 422.1771240234375,
                        "y": 5104.69775390625,
                        "z": 369.3010559082031
                    },
                    "rotation": {
                        "roll": 0.00019327599147800356,
                        "pitch": 0.3191678822040558,
                        "yaw": -15.14037036895752
                    }
                },
                "velocity": {
                    "x": 7.76607608795166,
                    "y": -2.0994691848754883,
                    "z": 0.046834953129291534
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 18834,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.075129508972168,
                "transform": {
                    "location": {
                        "x": 422.2571716308594,
                        "y": 5101.310546875,
                        "z": 369.2972106933594
                    },
                    "rotation": {
                        "roll": 0.000152451335452497,
                        "pitch": 0.34224027395248413,
                        "yaw": -15.137104034423828
                    }
                },
                "velocity": {
                    "x": 7.794734477996826,
                    "y": -2.1088974475860596,
                    "z": 0.048759154975414276
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 18827,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.018848419189453,
                "transform": {
                    "location": {
                        "x": 463.57421875,
                        "y": 5093.34033203125,
                        "z": 369.5711669921875
                    },
                    "rotation": {
                        "roll": 0.002153875771909952,
                        "pitch": 0.4218187928199768,
                        "yaw": -16.459457397460938
                    }
                },
                "velocity": {
                    "x": 7.691123008728027,
                    "y": -2.268280506134033,
                    "z": 0.05886699631810188
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18826,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.068599700927734,
                "transform": {
                    "location": {
                        "x": 463.58026123046875,
                        "y": 5089.93408203125,
                        "z": 369.5744934082031
                    },
                    "rotation": {
                        "roll": 0.012682022526860237,
                        "pitch": 0.42893585562705994,
                        "yaw": -16.462417602539062
                    }
                },
                "velocity": {
                    "x": 7.726706504821777,
                    "y": -2.323082447052002,
                    "z": 0.060031481087207794
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18825,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.960618495941162,
                "transform": {
                    "location": {
                        "x": 459.0998229980469,
                        "y": 5084.263671875,
                        "z": 369.569091796875
                    },
                    "rotation": {
                        "roll": 0.012844536453485489,
                        "pitch": -0.41265952587127686,
                        "yaw": 163.6707305908203
                    }
                },
                "velocity": {
                    "x": -7.648534297943115,
                    "y": 2.2063119411468506,
                    "z": -0.05962592363357544
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18824,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.036869049072266,
                "transform": {
                    "location": {
                        "x": 439.1130676269531,
                        "y": 5089.8056640625,
                        "z": 369.4207763671875
                    },
                    "rotation": {
                        "roll": 0.0005529363988898695,
                        "pitch": -0.3659956753253937,
                        "yaw": 164.8236541748047
                    }
                },
                "velocity": {
                    "x": -7.756428241729736,
                    "y": 2.1039018630981445,
                    "z": -0.05179741606116295
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18840,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.7483367919921875,
                "transform": {
                    "location": {
                        "x": 369.549560546875,
                        "y": 5114.19482421875,
                        "z": 369.0884704589844
                    },
                    "rotation": {
                        "roll": 0.0012912886450067163,
                        "pitch": 0.17647841572761536,
                        "yaw": -10.635512351989746
                    }
                },
                "velocity": {
                    "x": 3.6840808391571045,
                    "y": -0.6909957528114319,
                    "z": 0.01011639554053545
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18821,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 469.93377685546875,
                        "y": 5084.51220703125,
                        "z": 369.6436767578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.4368588626384735,
                        "yaw": 162.9829864501953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18820,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.69778299331665,
                "transform": {
                    "location": {
                        "x": 452.2251892089844,
                        "y": 5089.60595703125,
                        "z": 369.4998474121094
                    },
                    "rotation": {
                        "roll": -0.0007629470201209188,
                        "pitch": -0.3815001845359802,
                        "yaw": 164.59539794921875
                    }
                },
                "velocity": {
                    "x": -7.42084264755249,
                    "y": 2.0455079078674316,
                    "z": -0.05343087017536163
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18841,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.845564842224121,
                "transform": {
                    "location": {
                        "x": 373.0838928222656,
                        "y": 5116.8212890625,
                        "z": 369.1046142578125
                    },
                    "rotation": {
                        "roll": 0.02987324446439743,
                        "pitch": 0.5361766219139099,
                        "yaw": -11.088577270507812
                    }
                },
                "velocity": {
                    "x": 7.6945481300354,
                    "y": -1.5317867994308472,
                    "z": 0.021083639934659004
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.14742118120193481,
        "expert_target_speed": 10.0,
        "target_point": [
            21.07223215466532,
            0.6997693560210188
        ],
        "target_point_next": [
            32.17068212198418,
            1.370506024449452
        ]
    },
    "175": {
        "acceleration": [
            0.15293121337890625,
            -0.25511741638183594,
            0.051521360874176025
        ],
        "angular_velocity": [
            -0.1903722882270813,
            -0.09573900699615479,
            0.6689915060997009
        ],
        "forward_vector": [
            -0.9675695896148682,
            0.2525888681411743,
            -0.0028308590408414602
        ],
        "right_vector": [
            -0.25259050726890564,
            -0.9675732851028442,
            0.00023222671006806195
        ],
        "location": [
            391.5050964355469,
            5106.181640625,
            369.1541748046875
        ],
        "rotation": [
            -0.0133056640625,
            -0.16219648718833923,
            165.3691864013672
        ],
        "velocity": [
            -19.5230712890625,
            5.100356578826904,
            -0.06168253719806671
        ],
        "speed": 20.178303937372917,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 29.53160858154297,
        "front_vehicle_info": {
            "id": 18836,
            "type": "vehicle.bh.crossbike",
            "location": [
                365.6644592285156,
                5120.4775390625,
                369.08544921875
            ],
            "velocity": [
                3.2912282943725586,
                -0.621803343296051,
                0.00686517683789134
            ],
            "speed_kmh": 12.058049509530594,
            "color": "0,112,39"
        },
        "other_vehicles": [
            {
                "id": 18847,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 361.5533447265625,
                        "y": 5169.19091796875,
                        "z": 369.0838317871094
                    },
                    "rotation": {
                        "roll": -1.3340492266422643e-08,
                        "pitch": 0.3706333637237549,
                        "yaw": -90.3166732788086
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18846,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 310.4577941894531,
                        "y": 5122.4140625,
                        "z": 369.5287780761719
                    },
                    "rotation": {
                        "roll": 8.337646684175581e-10,
                        "pitch": -0.1043994352221489,
                        "yaw": -6.458654403686523
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 310.8645935058594,
                        "y": 5125.63818359375,
                        "z": 369.5287780761719
                    },
                    "rotation": {
                        "roll": 8.337646684175581e-10,
                        "pitch": -0.1043994352221489,
                        "yaw": -6.458654403686523
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18844,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.895458221435547,
                "transform": {
                    "location": {
                        "x": 358.7780456542969,
                        "y": 5166.220703125,
                        "z": 368.720458984375
                    },
                    "rotation": {
                        "roll": -0.0608825609087944,
                        "pitch": -0.49355626106262207,
                        "yaw": 89.99744415283203
                    }
                },
                "velocity": {
                    "x": -0.024537088349461555,
                    "y": 7.895005226135254,
                    "z": -0.08090350031852722
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 18843,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 358.8381042480469,
                        "y": 5175.4970703125,
                        "z": 368.8064270019531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.361173540353775,
                        "yaw": 89.68331909179688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18838,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.402251720428467,
                "transform": {
                    "location": {
                        "x": 333.114990234375,
                        "y": 5124.75,
                        "z": 369.0892639160156
                    },
                    "rotation": {
                        "roll": 0.00585917429998517,
                        "pitch": -0.4446043074131012,
                        "yaw": -9.846236228942871
                    }
                },
                "velocity": {
                    "x": 3.3521294593811035,
                    "y": -0.5818207263946533,
                    "z": -0.0054822443053126335
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 18837,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.8710169792175293,
                "transform": {
                    "location": {
                        "x": 398.22991943359375,
                        "y": 5113.31787109375,
                        "z": 369.1620178222656
                    },
                    "rotation": {
                        "roll": -0.0017394988099113107,
                        "pitch": 0.3465091288089752,
                        "yaw": -14.186908721923828
                    }
                },
                "velocity": {
                    "x": 3.7539193630218506,
                    "y": -0.9448124766349792,
                    "z": 0.013839787803590298
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 18836,
                "type": "vehicle.bh.crossbike",
                "speed_kmh": 3.3494582176208496,
                "transform": {
                    "location": {
                        "x": 365.6644592285156,
                        "y": 5120.4775390625,
                        "z": 369.08544921875
                    },
                    "rotation": {
                        "roll": -0.050933837890625,
                        "pitch": 0.1436183750629425,
                        "yaw": -10.349106788635254
                    }
                },
                "velocity": {
                    "x": 3.2912282943725586,
                    "y": -0.621803343296051,
                    "z": 0.00686517683789134
                },
                "bounding_box_extent": {
                    "x": 0.7546613812446594,
                    "y": 0.4329703152179718,
                    "z": 0.8061768412590027
                }
            },
            {
                "id": 18835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.093371391296387,
                "transform": {
                    "location": {
                        "x": 424.1265563964844,
                        "y": 5104.17041015625,
                        "z": 369.31268310546875
                    },
                    "rotation": {
                        "roll": 0.0005966834723949432,
                        "pitch": 0.3703464865684509,
                        "yaw": -15.11888599395752
                    }
                },
                "velocity": {
                    "x": 7.812610149383545,
                    "y": -2.1126813888549805,
                    "z": 0.04865371435880661
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 18834,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.047961235046387,
                "transform": {
                    "location": {
                        "x": 424.20233154296875,
                        "y": 5100.7841796875,
                        "z": 369.3094177246094
                    },
                    "rotation": {
                        "roll": 0.0002213783736806363,
                        "pitch": 0.35329151153564453,
                        "yaw": -15.139606475830078
                    }
                },
                "velocity": {
                    "x": 7.768503665924072,
                    "y": -2.101810932159424,
                    "z": 0.04921594634652138
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 18827,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 465.5309143066406,
                        "y": 5092.72900390625,
                        "z": 369.5885009765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4368588626384735,
                        "yaw": -17.016977310180664
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18826,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 465.55120849609375,
                        "y": 5089.30712890625,
                        "z": 369.59527587890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4368588626384735,
                        "yaw": -17.016977310180664
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18825,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.010124206542969,
                "transform": {
                    "location": {
                        "x": 457.1925354003906,
                        "y": 5084.814453125,
                        "z": 369.5544128417969
                    },
                    "rotation": {
                        "roll": 0.004068968817591667,
                        "pitch": -0.41531646251678467,
                        "yaw": 163.8782958984375
                    }
                },
                "velocity": {
                    "x": -7.698181629180908,
                    "y": 2.212847948074341,
                    "z": -0.05824070796370506
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18824,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.063149452209473,
                "transform": {
                    "location": {
                        "x": 437.1712646484375,
                        "y": 5090.33251953125,
                        "z": 369.4080810546875
                    },
                    "rotation": {
                        "roll": -0.0013122597010806203,
                        "pitch": -0.3628810942173004,
                        "yaw": 164.82972717285156
                    }
                },
                "velocity": {
                    "x": -7.781983852386475,
                    "y": 2.110060453414917,
                    "z": -0.05240277200937271
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18840,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.644114017486572,
                "transform": {
                    "location": {
                        "x": 370.5816955566406,
                        "y": 5114.0009765625,
                        "z": 369.0912780761719
                    },
                    "rotation": {
                        "roll": 0.0012196918250992894,
                        "pitch": 0.1832539588212967,
                        "yaw": -10.63334846496582
                    }
                },
                "velocity": {
                    "x": 4.564361095428467,
                    "y": -0.8568947911262512,
                    "z": 0.01155215222388506
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18821,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 468.0481872558594,
                        "y": 5085.1025390625,
                        "z": 369.6285400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.4368588626384735,
                        "yaw": 162.9829864501953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18820,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.731234550476074,
                "transform": {
                    "location": {
                        "x": 450.2832336425781,
                        "y": 5090.1396484375,
                        "z": 369.48577880859375
                    },
                    "rotation": {
                        "roll": 0.0005825249245390296,
                        "pitch": -0.3548624515533447,
                        "yaw": 164.6851806640625
                    }
                },
                "velocity": {
                    "x": -8.421977043151855,
                    "y": 2.302438497543335,
                    "z": -0.059440258890390396
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18841,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.312273025512695,
                "transform": {
                    "location": {
                        "x": 375.1160888671875,
                        "y": 5116.4140625,
                        "z": 369.1101379394531
                    },
                    "rotation": {
                        "roll": 0.01742078922688961,
                        "pitch": 0.32256248593330383,
                        "yaw": -11.317705154418945
                    }
                },
                "velocity": {
                    "x": 8.149178504943848,
                    "y": -1.6383848190307617,
                    "z": 0.021529139950871468
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.4605771005153656,
        "expert_target_speed": 10.0,
        "target_point": [
            16.009980946478684,
            0.6656307145263467
        ],
        "target_point_next": [
            27.10966867582965,
            1.3155627620128447
        ]
    },
    "180": {
        "acceleration": [
            3.3774185180664062,
            -1.4234542846679688,
            0.004483833909034729
        ],
        "angular_velocity": [
            -0.5345864295959473,
            -0.6381366848945618,
            1.947860598564148
        ],
        "forward_vector": [
            -0.9689744114875793,
            0.24706831574440002,
            -0.006770797073841095
        ],
        "right_vector": [
            -0.2470838725566864,
            -0.9689928889274597,
            0.0015531190438196063
        ],
        "location": [
            386.7292785644531,
            5107.41845703125,
            369.14105224609375
        ],
        "rotation": [
            -0.0889892429113388,
            -0.38794106245040894,
            165.69557189941406
        ],
        "velocity": [
            -18.650611877441406,
            4.772209644317627,
            -0.052432287484407425
        ],
        "speed": 19.251475483512337,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 24.000810623168945,
        "front_vehicle_info": {
            "id": 18836,
            "type": "vehicle.bh.crossbike",
            "location": [
                366.4927978515625,
                5120.32275390625,
                369.08746337890625
            ],
            "velocity": [
                3.3340566158294678,
                -0.6163903474807739,
                0.010133609175682068
            ],
            "speed_kmh": 12.206056429250191,
            "color": "0,112,39"
        },
        "other_vehicles": [
            {
                "id": 18847,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.450000286102295,
                "transform": {
                    "location": {
                        "x": 361.5533447265625,
                        "y": 5169.19091796875,
                        "z": 368.7653503417969
                    },
                    "rotation": {
                        "roll": -1.3340492266422643e-08,
                        "pitch": 0.3706333637237549,
                        "yaw": -90.3166732788086
                    }
                },
                "velocity": {
                    "x": -2.101820974209634e-11,
                    "y": -3.8027554438713196e-09,
                    "z": -2.450000286102295
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18846,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 310.4577941894531,
                        "y": 5122.4140625,
                        "z": 369.5287780761719
                    },
                    "rotation": {
                        "roll": 8.337646684175581e-10,
                        "pitch": -0.1043994352221489,
                        "yaw": -6.458654403686523
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 310.8645935058594,
                        "y": 5125.63818359375,
                        "z": 369.5287780761719
                    },
                    "rotation": {
                        "roll": 8.337646684175581e-10,
                        "pitch": -0.1043994352221489,
                        "yaw": -6.458654403686523
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18844,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.262667179107666,
                "transform": {
                    "location": {
                        "x": 358.7712097167969,
                        "y": 5167.99560546875,
                        "z": 368.7054138183594
                    },
                    "rotation": {
                        "roll": -0.042877133935689926,
                        "pitch": -0.7936747670173645,
                        "yaw": 90.32777404785156
                    }
                },
                "velocity": {
                    "x": -0.035062193870544434,
                    "y": 6.262362003326416,
                    "z": -0.050937753170728683
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 18843,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 358.8404846191406,
                        "y": 5175.955078125,
                        "z": 368.78411865234375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.361173540353775,
                        "yaw": 89.68331909179688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18838,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.3490548133850098,
                "transform": {
                    "location": {
                        "x": 333.9466247558594,
                        "y": 5124.60595703125,
                        "z": 369.0880432128906
                    },
                    "rotation": {
                        "roll": 0.005413483362644911,
                        "pitch": -0.36801058053970337,
                        "yaw": -9.845991134643555
                    }
                },
                "velocity": {
                    "x": 3.2997021675109863,
                    "y": -0.5728047490119934,
                    "z": -0.005328349769115448
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 18837,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 4.108704566955566,
                "transform": {
                    "location": {
                        "x": 399.19970703125,
                        "y": 5113.06689453125,
                        "z": 369.1656188964844
                    },
                    "rotation": {
                        "roll": -0.030548095703125,
                        "pitch": 0.3066140115261078,
                        "yaw": -14.46074390411377
                    }
                },
                "velocity": {
                    "x": 3.9730610847473145,
                    "y": -1.0469250679016113,
                    "z": 0.013767031952738762
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 18836,
                "type": "vehicle.bh.crossbike",
                "speed_kmh": 3.390571355819702,
                "transform": {
                    "location": {
                        "x": 366.4927978515625,
                        "y": 5120.32275390625,
                        "z": 369.08746337890625
                    },
                    "rotation": {
                        "roll": 0.02790595218539238,
                        "pitch": 0.13377608358860016,
                        "yaw": -10.226151466369629
                    }
                },
                "velocity": {
                    "x": 3.3340566158294678,
                    "y": -0.6163903474807739,
                    "z": 0.010133609175682068
                },
                "bounding_box_extent": {
                    "x": 0.7546613812446594,
                    "y": 0.4329703152179718,
                    "z": 0.8061768412590027
                }
            },
            {
                "id": 18835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.070097923278809,
                "transform": {
                    "location": {
                        "x": 426.0773620605469,
                        "y": 5103.642578125,
                        "z": 369.3252258300781
                    },
                    "rotation": {
                        "roll": 0.00041161695844493806,
                        "pitch": 0.3584892749786377,
                        "yaw": -15.149768829345703
                    }
                },
                "velocity": {
                    "x": 7.7896037101745605,
                    "y": -2.1085963249206543,
                    "z": 0.04887077212333679
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 18834,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.079216003417969,
                "transform": {
                    "location": {
                        "x": 426.1485595703125,
                        "y": 5100.2578125,
                        "z": 369.3217468261719
                    },
                    "rotation": {
                        "roll": 0.0008471494074910879,
                        "pitch": 0.35124245285987854,
                        "yaw": -15.14177417755127
                    }
                },
                "velocity": {
                    "x": 7.798557758331299,
                    "y": -2.110400676727295,
                    "z": 0.04941201210021973
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 18827,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 467.51361083984375,
                        "y": 5092.08837890625,
                        "z": 369.6077575683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4368588626384735,
                        "yaw": -17.016977310180664
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18825,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 455.2630310058594,
                        "y": 5085.478515625,
                        "z": 369.536865234375
                    },
                    "rotation": {
                        "roll": -3.335134612925117e-09,
                        "pitch": -0.40069302916526794,
                        "yaw": 164.70187377929688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18824,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.051016807556152,
                "transform": {
                    "location": {
                        "x": 435.22662353515625,
                        "y": 5090.859375,
                        "z": 369.3952941894531
                    },
                    "rotation": {
                        "roll": -0.0018005380406975746,
                        "pitch": -0.36361876130104065,
                        "yaw": 164.8436737060547
                    }
                },
                "velocity": {
                    "x": -7.771140098571777,
                    "y": 2.10372257232666,
                    "z": -0.05110955983400345
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18840,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.23453426361084,
                "transform": {
                    "location": {
                        "x": 371.82928466796875,
                        "y": 5113.7587890625,
                        "z": 369.09503173828125
                    },
                    "rotation": {
                        "roll": 0.005146498791873455,
                        "pitch": 0.17914901673793793,
                        "yaw": -10.938981056213379
                    }
                },
                "velocity": {
                    "x": 5.13374137878418,
                    "y": -1.0221763849258423,
                    "z": 0.014342202804982662
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18821,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 466.05963134765625,
                        "y": 5085.72216796875,
                        "z": 369.6127624511719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.4368588626384735,
                        "yaw": 162.9829864501953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18820,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.366983413696289,
                "transform": {
                    "location": {
                        "x": 448.21148681640625,
                        "y": 5090.7060546875,
                        "z": 369.4714660644531
                    },
                    "rotation": {
                        "roll": 0.00019809325749520212,
                        "pitch": -0.38354241847991943,
                        "yaw": 164.7674102783203
                    }
                },
                "velocity": {
                    "x": -8.07239818572998,
                    "y": 2.199920177459717,
                    "z": -0.05622436851263046
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18841,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.788813591003418,
                "transform": {
                    "location": {
                        "x": 377.1867370605469,
                        "y": 5115.9921875,
                        "z": 369.1158142089844
                    },
                    "rotation": {
                        "roll": 0.04459996148943901,
                        "pitch": 0.2680371105670929,
                        "yaw": -11.581499099731445
                    }
                },
                "velocity": {
                    "x": 8.603705406188965,
                    "y": -1.7941557168960571,
                    "z": 0.02243584580719471
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.999360203742981,
        "expert_target_speed": 10.0,
        "target_point": [
            11.080176578532452,
            0.5929100776446505
        ],
        "target_point_next": [
            22.18338669367606,
            1.1795995137410893
        ]
    },
    "185": {
        "acceleration": [
            2.6841354370117188,
            -1.3922405242919922,
            -0.006082206964492798
        ],
        "angular_velocity": [
            -0.34084609150886536,
            -0.00016196101205423474,
            2.307317018508911
        ],
        "forward_vector": [
            -0.9713044762611389,
            0.2377007156610489,
            -0.008124738931655884
        ],
        "right_vector": [
            -0.2377321422100067,
            -0.9713256359100342,
            0.0031360292341560125
        ],
        "location": [
            382.1634826660156,
            5108.56787109375,
            369.12896728515625
        ],
        "rotation": [
            -0.1796874701976776,
            -0.46551835536956787,
            166.2486572265625
        ],
        "velocity": [
            -17.935314178466797,
            4.4255452156066895,
            -0.04877988621592522
        ],
        "speed": 18.473249447124655,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 64.03202056884766,
        "front_vehicle_info": {
            "id": 18847,
            "type": "vehicle.audi.tt",
            "location": [
                361.5533447265625,
                5169.1904296875,
                368.6525573730469
            ],
            "velocity": [
                -3.929530976165552e-06,
                0.001009098719805479,
                0.15325462818145752
            ],
            "speed_kmh": 0.5517286213683028,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 18847,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.15325795114040375,
                "transform": {
                    "location": {
                        "x": 361.5533447265625,
                        "y": 5169.1904296875,
                        "z": 368.6525573730469
                    },
                    "rotation": {
                        "roll": -9.155582665698603e-05,
                        "pitch": 0.37354302406311035,
                        "yaw": -90.31674194335938
                    }
                },
                "velocity": {
                    "x": -3.929530976165552e-06,
                    "y": 0.001009098719805479,
                    "z": 0.15325462818145752
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18846,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 310.4577941894531,
                        "y": 5122.4140625,
                        "z": 369.5287780761719
                    },
                    "rotation": {
                        "roll": 8.337646684175581e-10,
                        "pitch": -0.1043994352221489,
                        "yaw": -6.458654403686523
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 310.8645935058594,
                        "y": 5125.63818359375,
                        "z": 369.5287780761719
                    },
                    "rotation": {
                        "roll": 8.337646684175581e-10,
                        "pitch": -0.1043994352221489,
                        "yaw": -6.458654403686523
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18844,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.29111459851264954,
                "transform": {
                    "location": {
                        "x": 358.76806640625,
                        "y": 5168.8193359375,
                        "z": 368.70343017578125
                    },
                    "rotation": {
                        "roll": -0.033630404621362686,
                        "pitch": -2.1481354236602783,
                        "yaw": 90.60111236572266
                    }
                },
                "velocity": {
                    "x": 0.0025022528134286404,
                    "y": 0.29103147983551025,
                    "z": -0.006490716710686684
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 18843,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 358.84417724609375,
                        "y": 5176.619140625,
                        "z": 368.7518310546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.361173540353775,
                        "yaw": 89.68331909179688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18838,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.298696517944336,
                "transform": {
                    "location": {
                        "x": 334.7649841308594,
                        "y": 5124.4638671875,
                        "z": 369.0867919921875
                    },
                    "rotation": {
                        "roll": 0.005972047336399555,
                        "pitch": -0.34881091117858887,
                        "yaw": -9.846175193786621
                    }
                },
                "velocity": {
                    "x": 3.2501158714294434,
                    "y": -0.5640155076980591,
                    "z": -0.00561525346711278
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 18837,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 4.300618648529053,
                "transform": {
                    "location": {
                        "x": 400.2185363769531,
                        "y": 5112.8037109375,
                        "z": 369.16949462890625
                    },
                    "rotation": {
                        "roll": -0.1022643968462944,
                        "pitch": 0.31955721974372864,
                        "yaw": -14.61973762512207
                    }
                },
                "velocity": {
                    "x": 4.154043197631836,
                    "y": -1.1131291389465332,
                    "z": 0.01379417348653078
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 18836,
                "type": "vehicle.bh.crossbike",
                "speed_kmh": 3.3255791664123535,
                "transform": {
                    "location": {
                        "x": 367.3182373046875,
                        "y": 5120.166015625,
                        "z": 369.0899658203125
                    },
                    "rotation": {
                        "roll": -0.0835876539349556,
                        "pitch": 0.1580778956413269,
                        "yaw": -10.530411720275879
                    }
                },
                "velocity": {
                    "x": 3.2652673721313477,
                    "y": -0.6304077506065369,
                    "z": 0.009579400531947613
                },
                "bounding_box_extent": {
                    "x": 0.7546613812446594,
                    "y": 0.4329703152179718,
                    "z": 0.8061768412590027
                }
            },
            {
                "id": 18835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.058267593383789,
                "transform": {
                    "location": {
                        "x": 428.0222473144531,
                        "y": 5103.1162109375,
                        "z": 369.3376159667969
                    },
                    "rotation": {
                        "roll": -0.000762940791901201,
                        "pitch": 0.34745171666145325,
                        "yaw": -15.129777908325195
                    }
                },
                "velocity": {
                    "x": 7.778674602508545,
                    "y": -2.1036899089813232,
                    "z": 0.04885081201791763
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 18834,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.044496536254883,
                "transform": {
                    "location": {
                        "x": 428.0936584472656,
                        "y": 5099.73095703125,
                        "z": 369.33404541015625
                    },
                    "rotation": {
                        "roll": -0.00024414382642135024,
                        "pitch": 0.350955605506897,
                        "yaw": -15.145038604736328
                    }
                },
                "velocity": {
                    "x": 7.764889240264893,
                    "y": -2.1019136905670166,
                    "z": 0.04881520941853523
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 18825,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 453.25994873046875,
                        "y": 5086.05029296875,
                        "z": 369.52154541015625
                    },
                    "rotation": {
                        "roll": -3.335134612925117e-09,
                        "pitch": -0.40069302916526794,
                        "yaw": 164.70187377929688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18824,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.056950569152832,
                "transform": {
                    "location": {
                        "x": 433.2834777832031,
                        "y": 5091.38525390625,
                        "z": 369.3825988769531
                    },
                    "rotation": {
                        "roll": -0.001464841770939529,
                        "pitch": -0.36474573612213135,
                        "yaw": 164.8544158935547
                    }
                },
                "velocity": {
                    "x": -7.7769389152526855,
                    "y": 2.1049864292144775,
                    "z": -0.05206682160496712
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18840,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.890566825866699,
                "transform": {
                    "location": {
                        "x": 373.1769714355469,
                        "y": 5113.4912109375,
                        "z": 369.09869384765625
                    },
                    "rotation": {
                        "roll": 0.0019594028126448393,
                        "pitch": 0.1737736612558365,
                        "yaw": -11.225175857543945
                    }
                },
                "velocity": {
                    "x": 5.775001525878906,
                    "y": -1.161004900932312,
                    "z": 0.01416806224733591
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18821,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 464.0935974121094,
                        "y": 5086.3115234375,
                        "z": 369.5972595214844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.425165593624115,
                        "yaw": 163.5559539794922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18820,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.039127349853516,
                "transform": {
                    "location": {
                        "x": 446.2386474609375,
                        "y": 5091.2431640625,
                        "z": 369.4579162597656
                    },
                    "rotation": {
                        "roll": 0.00021424892474897206,
                        "pitch": -0.3956591784954071,
                        "yaw": 164.80813598632812
                    }
                },
                "velocity": {
                    "x": -7.757533550262451,
                    "y": 2.108376979827881,
                    "z": -0.054714784026145935
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18841,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.68373966217041,
                "transform": {
                    "location": {
                        "x": 379.4270324707031,
                        "y": 5115.51904296875,
                        "z": 369.1219177246094
                    },
                    "rotation": {
                        "roll": 0.036746613681316376,
                        "pitch": 0.3121054768562317,
                        "yaw": -12.003313064575195
                    }
                },
                "velocity": {
                    "x": 9.47036075592041,
                    "y": -2.0214810371398926,
                    "z": 0.026162756606936455
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 1.0023109912872314,
        "expert_target_speed": 10.0,
        "target_point": [
            17.485589904865893,
            0.9965516654290081
        ],
        "target_point_next": [
            27.76503583291483,
            -14.248377561681693
        ]
    },
    "190": {
        "acceleration": [
            6.854133605957031,
            -2.3407411575317383,
            0.01581326127052307
        ],
        "angular_velocity": [
            -0.47074759006500244,
            -1.0950218439102173,
            2.3102753162384033
        ],
        "forward_vector": [
            -0.9736248850822449,
            0.22788497805595398,
            -0.011090646497905254
        ],
        "right_vector": [
            -0.2279404252767563,
            -0.9736669063568115,
            0.004003539215773344
        ],
        "location": [
            377.8287048339844,
            5109.6162109375,
            369.11773681640625
        ],
        "rotation": [
            -0.2294006198644638,
            -0.6354602575302124,
            166.82659912109375
        ],
        "velocity": [
            -16.61029624938965,
            3.9261224269866943,
            -0.04620311036705971
        ],
        "speed": 17.06799281708824,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 61.758941650390625,
        "front_vehicle_info": {
            "id": 18847,
            "type": "vehicle.audi.tt",
            "location": [
                361.5533447265625,
                5169.1904296875,
                368.67974853515625
            ],
            "velocity": [
                -8.516094385413453e-05,
                0.00037716387305408716,
                0.05586342513561249
            ],
            "speed_kmh": 0.2011131476960409,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 18847,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.055864762514829636,
                "transform": {
                    "location": {
                        "x": 361.5533447265625,
                        "y": 5169.1904296875,
                        "z": 368.67974853515625
                    },
                    "rotation": {
                        "roll": 2.936243254225701e-05,
                        "pitch": 0.3736249804496765,
                        "yaw": -90.31674194335938
                    }
                },
                "velocity": {
                    "x": -8.516094385413453e-05,
                    "y": 0.00037716387305408716,
                    "z": 0.05586342513561249
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18846,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 310.4577941894531,
                        "y": 5122.4140625,
                        "z": 369.5141296386719
                    },
                    "rotation": {
                        "roll": 8.337646684175581e-10,
                        "pitch": -0.1043994352221489,
                        "yaw": -6.458654403686523
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 310.8645935058594,
                        "y": 5125.63818359375,
                        "z": 369.5141296386719
                    },
                    "rotation": {
                        "roll": 8.337646684175581e-10,
                        "pitch": -0.1043994352221489,
                        "yaw": -6.458654403686523
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18844,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.012277054600417614,
                "transform": {
                    "location": {
                        "x": 358.76806640625,
                        "y": 5168.82568359375,
                        "z": 368.7004089355469
                    },
                    "rotation": {
                        "roll": -0.025756947696208954,
                        "pitch": -1.4830321073532104,
                        "yaw": 90.60026550292969
                    }
                },
                "velocity": {
                    "x": -0.0008967522880993783,
                    "y": -0.01223892904818058,
                    "z": 0.0003612467844504863
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 18843,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 358.84857177734375,
                        "y": 5177.412109375,
                        "z": 368.7132263183594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.361173540353775,
                        "yaw": 89.68331909179688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18838,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.480588436126709,
                "transform": {
                    "location": {
                        "x": 335.59521484375,
                        "y": 5124.3193359375,
                        "z": 369.0852966308594
                    },
                    "rotation": {
                        "roll": -0.0010681133717298508,
                        "pitch": -0.4701218903064728,
                        "yaw": -9.846144676208496
                    }
                },
                "velocity": {
                    "x": 3.4292657375335693,
                    "y": -0.595478355884552,
                    "z": -0.006201896350830793
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 18837,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 4.450772285461426,
                "transform": {
                    "location": {
                        "x": 401.28179931640625,
                        "y": 5112.52685546875,
                        "z": 369.17340087890625
                    },
                    "rotation": {
                        "roll": 0.005818536505103111,
                        "pitch": 0.34070348739624023,
                        "yaw": -14.55723762512207
                    }
                },
                "velocity": {
                    "x": 4.3113603591918945,
                    "y": -1.1051244735717773,
                    "z": 0.01572095789015293
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 18836,
                "type": "vehicle.bh.crossbike",
                "speed_kmh": 3.3716444969177246,
                "transform": {
                    "location": {
                        "x": 368.14111328125,
                        "y": 5120.0087890625,
                        "z": 369.0921325683594
                    },
                    "rotation": {
                        "roll": -0.0016479494515806437,
                        "pitch": 0.1366584151983261,
                        "yaw": -10.444777488708496
                    }
                },
                "velocity": {
                    "x": 3.313401699066162,
                    "y": -0.6239086389541626,
                    "z": 0.009676694869995117
                },
                "bounding_box_extent": {
                    "x": 0.7546613812446594,
                    "y": 0.4329703152179718,
                    "z": 0.8061768412590027
                }
            },
            {
                "id": 18835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.073014259338379,
                "transform": {
                    "location": {
                        "x": 429.9688720703125,
                        "y": 5102.58984375,
                        "z": 369.34991455078125
                    },
                    "rotation": {
                        "roll": -0.0011291441041976213,
                        "pitch": 0.3566861152648926,
                        "yaw": -15.155292510986328
                    }
                },
                "velocity": {
                    "x": 7.792627811431885,
                    "y": -2.1085894107818604,
                    "z": 0.048628710210323334
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 18834,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.080389022827148,
                "transform": {
                    "location": {
                        "x": 430.0393371582031,
                        "y": 5099.20458984375,
                        "z": 369.3464050292969
                    },
                    "rotation": {
                        "roll": -0.00125122198369354,
                        "pitch": 0.35076433420181274,
                        "yaw": -15.147051811218262
                    }
                },
                "velocity": {
                    "x": 7.799550533294678,
                    "y": -2.1112289428710938,
                    "z": 0.049102943390607834
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 18825,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 451.2569580078125,
                        "y": 5086.62353515625,
                        "z": 369.5063171386719
                    },
                    "rotation": {
                        "roll": -3.335134612925117e-09,
                        "pitch": -0.40069302916526794,
                        "yaw": 164.70187377929688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18824,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.050692558288574,
                "transform": {
                    "location": {
                        "x": 431.3399658203125,
                        "y": 5091.91162109375,
                        "z": 369.3699035644531
                    },
                    "rotation": {
                        "roll": 0.0004839323228225112,
                        "pitch": -0.35775846242904663,
                        "yaw": 164.8567352294922
                    }
                },
                "velocity": {
                    "x": -7.771245002746582,
                    "y": 2.1021347045898438,
                    "z": -0.04932551831007004
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18840,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.986358642578125,
                "transform": {
                    "location": {
                        "x": 374.7660827636719,
                        "y": 5113.17236328125,
                        "z": 369.10284423828125
                    },
                    "rotation": {
                        "roll": 0.0020076779183000326,
                        "pitch": 0.1895582228899002,
                        "yaw": -11.37516975402832
                    }
                },
                "velocity": {
                    "x": 6.847931861877441,
                    "y": -1.3837231397628784,
                    "z": 0.018520602956414223
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18821,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 462.2387390136719,
                        "y": 5086.86962890625,
                        "z": 369.5826110839844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.425165593624115,
                        "yaw": 163.5559539794922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18820,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.955485820770264,
                "transform": {
                    "location": {
                        "x": 444.4019470214844,
                        "y": 5091.7421875,
                        "z": 369.4453430175781
                    },
                    "rotation": {
                        "roll": -0.0006103579071350396,
                        "pitch": -0.42129287123680115,
                        "yaw": 164.82749938964844
                    }
                },
                "velocity": {
                    "x": -6.712460994720459,
                    "y": 1.82193922996521,
                    "z": -0.04676210880279541
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18841,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.138023376464844,
                "transform": {
                    "location": {
                        "x": 381.9973449707031,
                        "y": 5114.96533203125,
                        "z": 369.1289367675781
                    },
                    "rotation": {
                        "roll": 0.04707954823970795,
                        "pitch": 0.42729660868644714,
                        "yaw": -12.215197563171387
                    }
                },
                "velocity": {
                    "x": 10.879029273986816,
                    "y": -2.3877522945404053,
                    "z": 0.030323581770062447
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9994174242019653,
        "expert_target_speed": 10.0,
        "target_point": [
            13.03512964978257,
            0.8529915446770246
        ],
        "target_point_next": [
            23.16027943126069,
            -14.494849268607737
        ]
    },
    "195": {
        "acceleration": [
            5.287036895751953,
            -1.880660057067871,
            0.034327432513237
        ],
        "angular_velocity": [
            -0.047111205756664276,
            -0.08842778205871582,
            2.1496033668518066
        ],
        "forward_vector": [
            -0.9757707715034485,
            0.21831776201725006,
            -0.014448735862970352
        ],
        "right_vector": [
            -0.21839867532253265,
            -0.9758503437042236,
            0.00426273001357913
        ],
        "location": [
            373.89959716796875,
            5110.52490234375,
            369.1075744628906
        ],
        "rotation": [
            -0.2442626804113388,
            -0.8278803825378418,
            167.38841247558594
        ],
        "velocity": [
            -14.972147941589355,
            3.3740556240081787,
            -0.041709356009960175
        ],
        "speed": 15.347620836427371,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 59.95207977294922,
        "front_vehicle_info": {
            "id": 18847,
            "type": "vehicle.audi.tt",
            "location": [
                361.5533447265625,
                5169.1904296875,
                368.6861267089844
            ],
            "velocity": [
                0.0002042968844762072,
                7.143400580389425e-05,
                0.009676428511738777
            ],
            "speed_kmh": 0.03484385469131823,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 18847,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.009678848087787628,
                "transform": {
                    "location": {
                        "x": 361.5533447265625,
                        "y": 5169.1904296875,
                        "z": 368.6861267089844
                    },
                    "rotation": {
                        "roll": -0.00015260193322319537,
                        "pitch": 0.3735293745994568,
                        "yaw": -90.31674194335938
                    }
                },
                "velocity": {
                    "x": 0.0002042968844762072,
                    "y": 7.143400580389425e-05,
                    "z": 0.009676428511738777
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18846,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.0434272289276123,
                "transform": {
                    "location": {
                        "x": 310.4577331542969,
                        "y": 5122.4140625,
                        "z": 369.13372802734375
                    },
                    "rotation": {
                        "roll": -0.0008850094163790345,
                        "pitch": -0.11416660249233246,
                        "yaw": -6.458654403686523
                    }
                },
                "velocity": {
                    "x": -0.001915753586217761,
                    "y": 0.00020376965403556824,
                    "z": -1.043425440788269
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.1441484689712524,
                "transform": {
                    "location": {
                        "x": 310.8645935058594,
                        "y": 5125.63818359375,
                        "z": 369.1268310546875
                    },
                    "rotation": {
                        "roll": -0.0004272457445040345,
                        "pitch": -0.11426223069429398,
                        "yaw": -6.458654403686523
                    }
                },
                "velocity": {
                    "x": -0.0022690226323902607,
                    "y": 0.00036673134309239686,
                    "z": -1.144146203994751
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18844,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.005864645354449749,
                "transform": {
                    "location": {
                        "x": 358.76812744140625,
                        "y": 5168.830078125,
                        "z": 368.69775390625
                    },
                    "rotation": {
                        "roll": -0.01376337930560112,
                        "pitch": -0.7778902053833008,
                        "yaw": 90.60006713867188
                    }
                },
                "velocity": {
                    "x": -9.983719792217016e-05,
                    "y": -0.005631091073155403,
                    "z": 0.0016355144325643778
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 18843,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.9454661011695862,
                "transform": {
                    "location": {
                        "x": 358.8511962890625,
                        "y": 5177.9013671875,
                        "z": 368.6650695800781
                    },
                    "rotation": {
                        "roll": -0.0014648353680968285,
                        "pitch": -0.4235536754131317,
                        "yaw": 89.68717956542969
                    }
                },
                "velocity": {
                    "x": -0.006215160246938467,
                    "y": 0.9182884693145752,
                    "z": -0.22497497498989105
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18838,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.6805825233459473,
                "transform": {
                    "location": {
                        "x": 336.4792785644531,
                        "y": 5124.166015625,
                        "z": 369.0838928222656
                    },
                    "rotation": {
                        "roll": 0.0009263712563551962,
                        "pitch": -0.5113489031791687,
                        "yaw": -9.845930099487305
                    }
                },
                "velocity": {
                    "x": 3.6263136863708496,
                    "y": -0.6296862363815308,
                    "z": -0.005725326482206583
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 18837,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 4.775044918060303,
                "transform": {
                    "location": {
                        "x": 402.3920593261719,
                        "y": 5112.2373046875,
                        "z": 369.1777648925781
                    },
                    "rotation": {
                        "roll": -0.012420654296875,
                        "pitch": 0.2824556231498718,
                        "yaw": -14.648881912231445
                    }
                },
                "velocity": {
                    "x": 4.617413520812988,
                    "y": -1.2166390419006348,
                    "z": 0.018247680738568306
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 18836,
                "type": "vehicle.bh.crossbike",
                "speed_kmh": 3.3222522735595703,
                "transform": {
                    "location": {
                        "x": 368.96240234375,
                        "y": 5119.8515625,
                        "z": 369.0943603515625
                    },
                    "rotation": {
                        "roll": -0.0389404296875,
                        "pitch": 0.14324955642223358,
                        "yaw": -10.819962501525879
                    }
                },
                "velocity": {
                    "x": 3.2567241191864014,
                    "y": -0.6565208435058594,
                    "z": 0.009421024471521378
                },
                "bounding_box_extent": {
                    "x": 0.7546613812446594,
                    "y": 0.4329703152179718,
                    "z": 0.8061768412590027
                }
            },
            {
                "id": 18835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.071985244750977,
                "transform": {
                    "location": {
                        "x": 431.9170227050781,
                        "y": 5102.0625,
                        "z": 369.36224365234375
                    },
                    "rotation": {
                        "roll": -0.000488277873955667,
                        "pitch": 0.356201171875,
                        "yaw": -15.127887725830078
                    }
                },
                "velocity": {
                    "x": 7.791635990142822,
                    "y": -2.108306646347046,
                    "z": 0.048927582800388336
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 18834,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.045638084411621,
                "transform": {
                    "location": {
                        "x": 431.9849548339844,
                        "y": 5098.677734375,
                        "z": 369.3587341308594
                    },
                    "rotation": {
                        "roll": -0.000640865764580667,
                        "pitch": 0.3505799174308777,
                        "yaw": -15.146682739257812
                    }
                },
                "velocity": {
                    "x": 7.765995979309082,
                    "y": -2.1021835803985596,
                    "z": 0.049225758761167526
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 18825,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 449.24639892578125,
                        "y": 5087.1689453125,
                        "z": 369.4919128417969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3884328305721283,
                        "yaw": 164.8603973388672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18824,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.05938720703125,
                "transform": {
                    "location": {
                        "x": 429.3959655761719,
                        "y": 5092.4375,
                        "z": 369.3575439453125
                    },
                    "rotation": {
                        "roll": -0.0003662056988105178,
                        "pitch": -0.35051846504211426,
                        "yaw": 164.8586883544922
                    }
                },
                "velocity": {
                    "x": -7.7794671058654785,
                    "y": 2.105050802230835,
                    "z": -0.04867349565029144
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18840,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.750425815582275,
                "transform": {
                    "location": {
                        "x": 376.60693359375,
                        "y": 5112.796875,
                        "z": 369.10791015625
                    },
                    "rotation": {
                        "roll": 0.006662212312221527,
                        "pitch": 0.18168985843658447,
                        "yaw": -11.596940040588379
                    }
                },
                "velocity": {
                    "x": 7.586334228515625,
                    "y": -1.5862380266189575,
                    "z": 0.022046241909265518
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18821,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 460.33404541015625,
                        "y": 5087.4287109375,
                        "z": 369.56787109375
                    },
                    "rotation": {
                        "roll": 6.67027943990206e-09,
                        "pitch": -0.41293272376060486,
                        "yaw": 164.12892150878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18820,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 442.6374816894531,
                        "y": 5092.30126953125,
                        "z": 369.4381408691406
                    },
                    "rotation": {
                        "roll": 3.335125065007105e-09,
                        "pitch": -0.3761863112449646,
                        "yaw": 164.86036682128906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18841,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.195891380310059,
                "transform": {
                    "location": {
                        "x": 384.8512268066406,
                        "y": 5114.32861328125,
                        "z": 369.13671875
                    },
                    "rotation": {
                        "roll": 0.051474444568157196,
                        "pitch": 0.39121273159980774,
                        "yaw": -12.695513725280762
                    }
                },
                "velocity": {
                    "x": 11.896876335144043,
                    "y": -2.683842420578003,
                    "z": 0.03303913027048111
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 1.0009242296218872,
        "expert_target_speed": 10.0,
        "target_point": [
            9.010153833853934,
            0.7540256767345646
        ],
        "target_point_next": [
            18.984330617678346,
            -14.692354909419397
        ]
    },
    "200": {
        "acceleration": [
            8.291740417480469,
            -2.3284387588500977,
            0.002275630831718445
        ],
        "angular_velocity": [
            -0.049691058695316315,
            -0.6380299925804138,
            1.946683406829834
        ],
        "forward_vector": [
            -0.9776360392570496,
            0.2096158266067505,
            -0.016999615356326103
        ],
        "right_vector": [
            -0.20970988273620605,
            -0.9777557253837585,
            0.00393291050568223
        ],
        "location": [
            370.400390625,
            5111.29736328125,
            369.0985107421875
        ],
        "rotation": [
            -0.2253722995519638,
            -0.9740532040596008,
            167.8983917236328
        ],
        "velocity": [
            -12.969552040100098,
            2.7898950576782227,
            -0.036910686641931534
        ],
        "speed": 13.26622759316762,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 58.56660079956055,
        "front_vehicle_info": {
            "id": 18847,
            "type": "vehicle.audi.tt",
            "location": [
                361.5533447265625,
                5169.1904296875,
                368.6871032714844
            ],
            "velocity": [
                2.8071484848624095e-05,
                2.9507204089895822e-05,
                0.0019758481066673994
            ],
            "speed_kmh": 0.007114564086065174,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 18847,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0019762676674872637,
                "transform": {
                    "location": {
                        "x": 361.5533447265625,
                        "y": 5169.1904296875,
                        "z": 368.6871032714844
                    },
                    "rotation": {
                        "roll": -3.053639375139028e-05,
                        "pitch": 0.3734883964061737,
                        "yaw": -90.31674194335938
                    }
                },
                "velocity": {
                    "x": 2.8071484848624095e-05,
                    "y": 2.9507204089895822e-05,
                    "z": 0.0019758481066673994
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18846,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.14285743236541748,
                "transform": {
                    "location": {
                        "x": 310.4577331542969,
                        "y": 5122.4140625,
                        "z": 369.11627197265625
                    },
                    "rotation": {
                        "roll": -0.0015563966007903218,
                        "pitch": -0.11706260591745377,
                        "yaw": -6.458654403686523
                    }
                },
                "velocity": {
                    "x": 0.00027629476971924305,
                    "y": 2.2527263354277238e-05,
                    "z": 0.142857164144516
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.14836949110031128,
                "transform": {
                    "location": {
                        "x": 310.8645324707031,
                        "y": 5125.63818359375,
                        "z": 369.1050720214844
                    },
                    "rotation": {
                        "roll": -0.00048828116268850863,
                        "pitch": -0.11932339519262314,
                        "yaw": -6.458653926849365
                    }
                },
                "velocity": {
                    "x": 0.00031325899180956185,
                    "y": -1.0741850019257981e-05,
                    "z": 0.14836916327476501
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18844,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0020996860694140196,
                "transform": {
                    "location": {
                        "x": 358.76812744140625,
                        "y": 5168.83154296875,
                        "z": 368.69683837890625
                    },
                    "rotation": {
                        "roll": -0.009979245252907276,
                        "pitch": -0.5080226063728333,
                        "yaw": 90.60004425048828
                    }
                },
                "velocity": {
                    "x": 2.3792341380612925e-05,
                    "y": -0.001947871525771916,
                    "z": 0.0007835252326913178
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 18843,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.03491600602865219,
                "transform": {
                    "location": {
                        "x": 358.8507385253906,
                        "y": 5178.01416015625,
                        "z": 368.6361999511719
                    },
                    "rotation": {
                        "roll": -0.00018311246822122484,
                        "pitch": -0.410979300737381,
                        "yaw": 89.73804473876953
                    }
                },
                "velocity": {
                    "x": 5.892679837415926e-05,
                    "y": -0.00027670172858051956,
                    "z": -0.034914858639240265
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18838,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.820427179336548,
                "transform": {
                    "location": {
                        "x": 337.4049072265625,
                        "y": 5124.00537109375,
                        "z": 369.0824890136719
                    },
                    "rotation": {
                        "roll": 0.002066495595499873,
                        "pitch": -0.482450395822525,
                        "yaw": -9.846175193786621
                    }
                },
                "velocity": {
                    "x": 3.7641563415527344,
                    "y": -0.6532691717147827,
                    "z": -0.00553752901032567
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 18837,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 4.97687292098999,
                "transform": {
                    "location": {
                        "x": 403.5736999511719,
                        "y": 5111.9287109375,
                        "z": 369.1827392578125
                    },
                    "rotation": {
                        "roll": 0.0019697078969329596,
                        "pitch": 0.32892823219299316,
                        "yaw": -14.603232383728027
                    }
                },
                "velocity": {
                    "x": 4.8175787925720215,
                    "y": -1.2489125728607178,
                    "z": 0.02049623429775238
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 18836,
                "type": "vehicle.bh.crossbike",
                "speed_kmh": 3.3609237670898438,
                "transform": {
                    "location": {
                        "x": 369.78216552734375,
                        "y": 5119.69189453125,
                        "z": 369.0965881347656
                    },
                    "rotation": {
                        "roll": -0.0463256873190403,
                        "pitch": 0.13636471331119537,
                        "yaw": -10.676102638244629
                    }
                },
                "velocity": {
                    "x": 3.3000030517578125,
                    "y": -0.6369445323944092,
                    "z": 0.009457559324800968
                },
                "bounding_box_extent": {
                    "x": 0.7546613812446594,
                    "y": 0.4329703152179718,
                    "z": 0.8061768412590027
                }
            },
            {
                "id": 18835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.065543174743652,
                "transform": {
                    "location": {
                        "x": 433.8639831542969,
                        "y": 5101.53564453125,
                        "z": 369.374755859375
                    },
                    "rotation": {
                        "roll": -0.001495359931141138,
                        "pitch": 0.3562694787979126,
                        "yaw": -15.151750564575195
                    }
                },
                "velocity": {
                    "x": 7.785529613494873,
                    "y": -2.1062049865722656,
                    "z": 0.04917682707309723
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 18834,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.078697204589844,
                "transform": {
                    "location": {
                        "x": 433.9305114746094,
                        "y": 5098.1513671875,
                        "z": 369.3712463378906
                    },
                    "rotation": {
                        "roll": -0.0005493140197359025,
                        "pitch": 0.35928159952163696,
                        "yaw": -15.146626472473145
                    }
                },
                "velocity": {
                    "x": 7.797897815704346,
                    "y": -2.110846996307373,
                    "z": 0.049564018845558167
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 18825,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 447.23565673828125,
                        "y": 5087.7138671875,
                        "z": 369.4775390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3884328305721283,
                        "yaw": 164.8603973388672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18824,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.049042701721191,
                "transform": {
                    "location": {
                        "x": 427.45233154296875,
                        "y": 5092.96337890625,
                        "z": 369.34527587890625
                    },
                    "rotation": {
                        "roll": -0.0011901893885806203,
                        "pitch": -0.3512561321258545,
                        "yaw": 164.85855102539062
                    }
                },
                "velocity": {
                    "x": -7.769471645355225,
                    "y": 2.1023926734924316,
                    "z": -0.0484008714556694
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18840,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.301410675048828,
                "transform": {
                    "location": {
                        "x": 378.7299499511719,
                        "y": 5112.3515625,
                        "z": 369.11358642578125
                    },
                    "rotation": {
                        "roll": 0.0057289693504571915,
                        "pitch": 0.19966007769107819,
                        "yaw": -12.018389701843262
                    }
                },
                "velocity": {
                    "x": 9.095993041992188,
                    "y": -1.9438450336456299,
                    "z": 0.02474079094827175
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18821,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 458.3342590332031,
                        "y": 5088.0078125,
                        "z": 369.5525817871094
                    },
                    "rotation": {
                        "roll": 6.67027943990206e-09,
                        "pitch": -0.41293272376060486,
                        "yaw": 164.12892150878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18820,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 440.6285400390625,
                        "y": 5092.85302734375,
                        "z": 369.42510986328125
                    },
                    "rotation": {
                        "roll": -3.3351204020704017e-09,
                        "pitch": -0.36391928791999817,
                        "yaw": 164.86036682128906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18841,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.190038681030273,
                "transform": {
                    "location": {
                        "x": 387.9499816894531,
                        "y": 5113.61767578125,
                        "z": 369.1452941894531
                    },
                    "rotation": {
                        "roll": 0.07029321789741516,
                        "pitch": 0.37208136916160583,
                        "yaw": -13.10789966583252
                    }
                },
                "velocity": {
                    "x": 12.843976974487305,
                    "y": -3.001368761062622,
                    "z": 0.034109678119421005
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 1.000262975692749,
        "expert_target_speed": 10.0,
        "target_point": [
            15.269413637921556,
            -14.839049577075007
        ],
        "target_point_next": [
            20.783818697626486,
            -41.26985054426016
        ]
    },
    "205": {
        "acceleration": [
            2.594776153564453,
            -0.9261560440063477,
            -5.8785080909729004e-05
        ],
        "angular_velocity": [
            0.46637800335884094,
            1.3186984062194824,
            1.550949215888977
        ],
        "forward_vector": [
            -0.9792582988739014,
            0.20207767188549042,
            -0.014758647419512272
        ],
        "right_vector": [
            -0.20214691758155823,
            -0.9793494939804077,
            0.0033456245437264442
        ],
        "location": [
            367.3465881347656,
            5111.94091796875,
            369.0895690917969
        ],
        "rotation": [
            -0.1917114108800888,
            -0.8456388711929321,
            168.34022521972656
        ],
        "velocity": [
            -11.77544116973877,
            2.4204840660095215,
            -0.03312252461910248
        ],
        "speed": 12.021637070540132,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 57.54328918457031,
        "front_vehicle_info": {
            "id": 18847,
            "type": "vehicle.audi.tt",
            "location": [
                361.5533447265625,
                5169.1904296875,
                368.6871337890625
            ],
            "velocity": [
                -5.559183136938373e-06,
                2.865433634724468e-05,
                0.0016448302194476128
            ],
            "speed_kmh": 0.005922321065685721,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 18847,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0016450891271233559,
                "transform": {
                    "location": {
                        "x": 361.5533447265625,
                        "y": 5169.1904296875,
                        "z": 368.6871337890625
                    },
                    "rotation": {
                        "roll": -3.053639375139028e-05,
                        "pitch": 0.3734883964061737,
                        "yaw": -90.31674194335938
                    }
                },
                "velocity": {
                    "x": -5.559183136938373e-06,
                    "y": 2.865433634724468e-05,
                    "z": 0.0016448302194476128
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18846,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.03820887207984924,
                "transform": {
                    "location": {
                        "x": 310.4577331542969,
                        "y": 5122.4140625,
                        "z": 369.13714599609375
                    },
                    "rotation": {
                        "roll": -0.001495361328125,
                        "pitch": -0.11624298244714737,
                        "yaw": -6.458653926849365
                    }
                },
                "velocity": {
                    "x": 8.31139986985363e-05,
                    "y": 0.0001254676462849602,
                    "z": 0.038208574056625366
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.03973934426903725,
                "transform": {
                    "location": {
                        "x": 310.8645324707031,
                        "y": 5125.63818359375,
                        "z": 369.1269836425781
                    },
                    "rotation": {
                        "roll": -0.0014953609788790345,
                        "pitch": -0.11788906157016754,
                        "yaw": -6.458683967590332
                    }
                },
                "velocity": {
                    "x": 8.904471906134859e-05,
                    "y": 1.7621574443182908e-05,
                    "z": 0.03973923996090889
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18844,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0003782985149882734,
                "transform": {
                    "location": {
                        "x": 358.76812744140625,
                        "y": 5168.83251953125,
                        "z": 368.6965026855469
                    },
                    "rotation": {
                        "roll": -0.008911164477467537,
                        "pitch": -0.42825284600257874,
                        "yaw": 90.60002899169922
                    }
                },
                "velocity": {
                    "x": 3.674404069897719e-05,
                    "y": -0.00037650312879122794,
                    "z": 2.2401404748961795e-06
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 18843,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0026707134675234556,
                "transform": {
                    "location": {
                        "x": 358.8507385253906,
                        "y": 5178.01416015625,
                        "z": 368.6341857910156
                    },
                    "rotation": {
                        "roll": -0.000732419837731868,
                        "pitch": -0.3729829490184784,
                        "yaw": 89.73802947998047
                    }
                },
                "velocity": {
                    "x": 0.00012411912030074745,
                    "y": -8.112937166515621e-07,
                    "z": 0.002667827531695366
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18838,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.9172956943511963,
                "transform": {
                    "location": {
                        "x": 338.359375,
                        "y": 5123.83984375,
                        "z": 369.0810546875
                    },
                    "rotation": {
                        "roll": 0.005380010697990656,
                        "pitch": -0.4551364481449127,
                        "yaw": -9.846478462219238
                    }
                },
                "velocity": {
                    "x": 3.8596088886260986,
                    "y": -0.6697723269462585,
                    "z": -0.005544519517570734
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 18837,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 5.160890102386475,
                "transform": {
                    "location": {
                        "x": 404.8006591796875,
                        "y": 5111.60791015625,
                        "z": 369.1882019042969
                    },
                    "rotation": {
                        "roll": -0.0310668908059597,
                        "pitch": 0.345354825258255,
                        "yaw": -14.753621101379395
                    }
                },
                "velocity": {
                    "x": 4.985737323760986,
                    "y": -1.332952857017517,
                    "z": 0.02118503488600254
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 18836,
                "type": "vehicle.bh.crossbike",
                "speed_kmh": 3.3107664585113525,
                "transform": {
                    "location": {
                        "x": 370.60076904296875,
                        "y": 5119.5322265625,
                        "z": 369.09881591796875
                    },
                    "rotation": {
                        "roll": 0.02586333267390728,
                        "pitch": 0.1466851383447647,
                        "yaw": -10.75761604309082
                    }
                },
                "velocity": {
                    "x": 3.2491512298583984,
                    "y": -0.6356829404830933,
                    "z": 0.009891852736473083
                },
                "bounding_box_extent": {
                    "x": 0.7546613812446594,
                    "y": 0.4329703152179718,
                    "z": 0.8061768412590027
                }
            },
            {
                "id": 18835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.068901062011719,
                "transform": {
                    "location": {
                        "x": 435.8106689453125,
                        "y": 5101.0087890625,
                        "z": 369.38726806640625
                    },
                    "rotation": {
                        "roll": 0.0010437497403472662,
                        "pitch": 0.36753928661346436,
                        "yaw": -15.124713897705078
                    }
                },
                "velocity": {
                    "x": 7.78879451751709,
                    "y": -2.106999635696411,
                    "z": 0.04901604726910591
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 18834,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.045461654663086,
                "transform": {
                    "location": {
                        "x": 435.8757629394531,
                        "y": 5097.62451171875,
                        "z": 369.38385009765625
                    },
                    "rotation": {
                        "roll": -0.0003967292432207614,
                        "pitch": 0.3634275197982788,
                        "yaw": -15.146688461303711
                    }
                },
                "velocity": {
                    "x": 7.765803813934326,
                    "y": -2.1021921634674072,
                    "z": 0.05023573711514473
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 18825,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 445.2247619628906,
                        "y": 5088.2587890625,
                        "z": 369.4633483886719
                    },
                    "rotation": {
                        "roll": 3.335125065007105e-09,
                        "pitch": -0.3761863112449646,
                        "yaw": 164.86036682128906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18824,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.06076717376709,
                "transform": {
                    "location": {
                        "x": 425.5084228515625,
                        "y": 5093.4892578125,
                        "z": 369.33294677734375
                    },
                    "rotation": {
                        "roll": 0.0002849155862350017,
                        "pitch": -0.3506413996219635,
                        "yaw": 164.85882568359375
                    }
                },
                "velocity": {
                    "x": -7.78080415725708,
                    "y": 2.105367422103882,
                    "z": -0.04969083145260811
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18840,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.009282112121582,
                "transform": {
                    "location": {
                        "x": 381.09686279296875,
                        "y": 5111.84423828125,
                        "z": 369.1203308105469
                    },
                    "rotation": {
                        "roll": 0.006456340663135052,
                        "pitch": 0.1832198202610016,
                        "yaw": -12.297201156616211
                    }
                },
                "velocity": {
                    "x": 9.77855396270752,
                    "y": -2.1365814208984375,
                    "z": 0.025358380749821663
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18821,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 456.33154296875,
                        "y": 5088.5810546875,
                        "z": 369.5375061035156
                    },
                    "rotation": {
                        "roll": -3.335134612925117e-09,
                        "pitch": -0.40069302916526794,
                        "yaw": 164.70187377929688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18820,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 438.62017822265625,
                        "y": 5093.40673828125,
                        "z": 369.4123840332031
                    },
                    "rotation": {
                        "roll": -3.3351204020704017e-09,
                        "pitch": -0.36391928791999817,
                        "yaw": 164.86036682128906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18841,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.580522537231445,
                "transform": {
                    "location": {
                        "x": 391.230224609375,
                        "y": 5112.84228515625,
                        "z": 369.1545715332031
                    },
                    "rotation": {
                        "roll": 0.05150437727570534,
                        "pitch": 0.2832410931587219,
                        "yaw": -13.429036140441895
                    }
                },
                "velocity": {
                    "x": 13.210418701171875,
                    "y": -3.148646831512451,
                    "z": 0.0381515696644783
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 1.0019054412841797,
        "expert_target_speed": 10.0,
        "target_point": [
            12.033681433691482,
            -14.943251544014062
        ],
        "target_point_next": [
            17.34410579815191,
            -41.41579006979206
        ]
    },
    "210": {
        "acceleration": [
            2.573833465576172,
            1.0161256790161133,
            0.04453912377357483
        ],
        "angular_velocity": [
            1.9559673070907593,
            0.38796156644821167,
            -3.552809000015259
        ],
        "forward_vector": [
            -0.9797484874725342,
            0.2000412493944168,
            -0.008738763630390167
        ],
        "right_vector": [
            -0.20005439221858978,
            -0.9797845482826233,
            0.0006471234955824912
        ],
        "location": [
            364.4432678222656,
            5112.53466796875,
            369.0803527832031
        ],
        "rotation": [
            -0.0370788648724556,
            -0.5007006525993347,
            168.46018981933594
        ],
        "velocity": [
            -11.41710376739502,
            2.3999524116516113,
            -0.029242243617773056
        ],
        "speed": 11.666620333826671,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.247942425707441,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 56.730777740478516,
        "front_vehicle_info": {
            "id": 18847,
            "type": "vehicle.audi.tt",
            "location": [
                361.5533447265625,
                5169.1904296875,
                368.6872253417969
            ],
            "velocity": [
                1.1327580295983353e-06,
                1.8639340851223096e-05,
                0.0008979035774245858
            ],
            "speed_kmh": 0.0032331518478195672,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 18847,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0008980977581813931,
                "transform": {
                    "location": {
                        "x": 361.5533447265625,
                        "y": 5169.1904296875,
                        "z": 368.6872253417969
                    },
                    "rotation": {
                        "roll": -3.053639375139028e-05,
                        "pitch": 0.3734883964061737,
                        "yaw": -90.31674194335938
                    }
                },
                "velocity": {
                    "x": 1.1327580295983353e-06,
                    "y": 1.8639340851223096e-05,
                    "z": 0.0008979035774245858
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18846,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.006288581527769566,
                "transform": {
                    "location": {
                        "x": 310.4577331542969,
                        "y": 5122.4140625,
                        "z": 369.1413879394531
                    },
                    "rotation": {
                        "roll": -0.0012207032414153218,
                        "pitch": -0.11655034124851227,
                        "yaw": -6.458653450012207
                    }
                },
                "velocity": {
                    "x": 1.811103902582545e-05,
                    "y": -0.0002814652107190341,
                    "z": 0.006282253190875053
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.005947417113929987,
                "transform": {
                    "location": {
                        "x": 310.8645324707031,
                        "y": 5125.63818359375,
                        "z": 369.1314392089844
                    },
                    "rotation": {
                        "roll": -0.00128173828125,
                        "pitch": -0.11767732352018356,
                        "yaw": -6.458683967590332
                    }
                },
                "velocity": {
                    "x": 5.0778685363184195e-06,
                    "y": -3.60421727236826e-05,
                    "z": 0.00594730582088232
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18844,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00021940022998023778,
                "transform": {
                    "location": {
                        "x": 358.76812744140625,
                        "y": 5168.83251953125,
                        "z": 368.6964111328125
                    },
                    "rotation": {
                        "roll": -0.008178722113370895,
                        "pitch": -0.3985210359096527,
                        "yaw": 90.59996032714844
                    }
                },
                "velocity": {
                    "x": 1.812967639125418e-05,
                    "y": -0.0002181619784096256,
                    "z": -1.459886789234588e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 18843,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0018495968542993069,
                "transform": {
                    "location": {
                        "x": 358.8507385253906,
                        "y": 5178.01416015625,
                        "z": 368.6345520019531
                    },
                    "rotation": {
                        "roll": -0.0001525885018054396,
                        "pitch": -0.3681335151195526,
                        "yaw": 89.738037109375
                    }
                },
                "velocity": {
                    "x": 1.99257174244849e-05,
                    "y": 1.589711791893933e-05,
                    "z": 0.00184942118357867
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18838,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.9842870235443115,
                "transform": {
                    "location": {
                        "x": 339.3332824707031,
                        "y": 5123.6708984375,
                        "z": 369.07952880859375
                    },
                    "rotation": {
                        "roll": 0.0014217303832992911,
                        "pitch": -0.4331364333629608,
                        "yaw": -9.84638786315918
                    }
                },
                "velocity": {
                    "x": 3.925581693649292,
                    "y": -0.681403398513794,
                    "z": -0.006325874011963606
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 18836,
                "type": "vehicle.bh.crossbike",
                "speed_kmh": 3.352832555770874,
                "transform": {
                    "location": {
                        "x": 371.4186706542969,
                        "y": 5119.3701171875,
                        "z": 369.1010437011719
                    },
                    "rotation": {
                        "roll": -0.0794677585363388,
                        "pitch": 0.1324305236339569,
                        "yaw": -10.894976615905762
                    }
                },
                "velocity": {
                    "x": 3.28916597366333,
                    "y": -0.6502124667167664,
                    "z": 0.009843682870268822
                },
                "bounding_box_extent": {
                    "x": 0.7546613812446594,
                    "y": 0.4329703152179718,
                    "z": 0.8061768412590027
                }
            },
            {
                "id": 18835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 437.7945556640625,
                        "y": 5100.4189453125,
                        "z": 369.3980712890625
                    },
                    "rotation": {
                        "roll": 3.3351204020704017e-09,
                        "pitch": 0.36389195919036865,
                        "yaw": -15.13963794708252
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 18834,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 437.8649597167969,
                        "y": 5097.005859375,
                        "z": 369.40093994140625
                    },
                    "rotation": {
                        "roll": 3.3351204020704017e-09,
                        "pitch": 0.36389195919036865,
                        "yaw": -15.13963794708252
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 18825,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 443.2135925292969,
                        "y": 5088.802734375,
                        "z": 369.4494323730469
                    },
                    "rotation": {
                        "roll": 3.335125065007105e-09,
                        "pitch": -0.3761863112449646,
                        "yaw": 164.86036682128906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18824,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.047630310058594,
                "transform": {
                    "location": {
                        "x": 423.56463623046875,
                        "y": 5094.0146484375,
                        "z": 369.3206481933594
                    },
                    "rotation": {
                        "roll": -0.0008239804301410913,
                        "pitch": -0.35192549228668213,
                        "yaw": 164.8641815185547
                    }
                },
                "velocity": {
                    "x": -7.768299579620361,
                    "y": 2.101304292678833,
                    "z": -0.04895186424255371
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18840,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.683566093444824,
                "transform": {
                    "location": {
                        "x": 383.6265563964844,
                        "y": 5111.28564453125,
                        "z": 369.1272277832031
                    },
                    "rotation": {
                        "roll": 0.006973729468882084,
                        "pitch": 0.17682676017284393,
                        "yaw": -12.70226001739502
                    }
                },
                "velocity": {
                    "x": 10.422768592834473,
                    "y": -2.345980405807495,
                    "z": 0.029292410239577293
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18821,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 454.3249816894531,
                        "y": 5089.14111328125,
                        "z": 369.52264404296875
                    },
                    "rotation": {
                        "roll": -3.335134612925117e-09,
                        "pitch": -0.40069302916526794,
                        "yaw": 164.70187377929688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18820,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 436.61029052734375,
                        "y": 5093.955078125,
                        "z": 369.39935302734375
                    },
                    "rotation": {
                        "roll": -3.3351159611783032e-09,
                        "pitch": -0.35168641805648804,
                        "yaw": 164.8603973388672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18841,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.388432502746582,
                "transform": {
                    "location": {
                        "x": 394.5031433105469,
                        "y": 5112.04296875,
                        "z": 369.1646423339844
                    },
                    "rotation": {
                        "roll": 0.06889978796243668,
                        "pitch": 0.18624559044837952,
                        "yaw": -13.911121368408203
                    }
                },
                "velocity": {
                    "x": 12.99637508392334,
                    "y": -3.2160069942474365,
                    "z": 0.04103171080350876
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 1.000230073928833,
        "expert_target_speed": 10.0,
        "target_point": [
            9.038962775970116,
            -14.967466009530698
        ],
        "target_point_next": [
            14.293960180570574,
            -41.45106291793982
        ]
    },
    "215": {
        "acceleration": [
            5.405921936035156,
            5.910224914550781,
            0.10484263300895691
        ],
        "angular_velocity": [
            5.114903926849365,
            -1.3834761381149292,
            -34.470829010009766
        ],
        "forward_vector": [
            -0.9592070579528809,
            0.28259187936782837,
            -0.007980380207300186
        ],
        "right_vector": [
            -0.28239893913269043,
            -0.9591004848480225,
            -0.019418194890022278
        ],
        "location": [
            361.7434387207031,
            5113.23779296875,
            369.07379150390625
        ],
        "rotation": [
            1.1126859188079834,
            -0.4572469890117645,
            163.58450317382812
        ],
        "velocity": [
            -10.217999458312988,
            3.438800573348999,
            -0.019667616114020348
        ],
        "speed": 10.781134555943076,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.2136618012729423,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 55.95429611206055,
        "front_vehicle_info": {
            "id": 18847,
            "type": "vehicle.audi.tt",
            "location": [
                361.5533447265625,
                5169.1904296875,
                368.6872253417969
            ],
            "velocity": [
                -5.503636089088104e-07,
                2.6423371309647337e-05,
                0.0011009504087269306
            ],
            "speed_kmh": 0.003964563316061423,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 18847,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0011012675240635872,
                "transform": {
                    "location": {
                        "x": 361.5533447265625,
                        "y": 5169.1904296875,
                        "z": 368.6872253417969
                    },
                    "rotation": {
                        "roll": -3.053639375139028e-05,
                        "pitch": 0.3734883964061737,
                        "yaw": -90.31674194335938
                    }
                },
                "velocity": {
                    "x": -5.503636089088104e-07,
                    "y": 2.6423371309647337e-05,
                    "z": 0.0011009504087269306
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18846,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0015249501448124647,
                "transform": {
                    "location": {
                        "x": 310.4577331542969,
                        "y": 5122.4140625,
                        "z": 369.1418151855469
                    },
                    "rotation": {
                        "roll": -0.0005187985952943563,
                        "pitch": -0.11629762500524521,
                        "yaw": -6.458683490753174
                    }
                },
                "velocity": {
                    "x": 9.212158147420269e-06,
                    "y": 1.211996186611941e-05,
                    "z": 0.0015248741256073117
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0010173697955906391,
                "transform": {
                    "location": {
                        "x": 310.8645324707031,
                        "y": 5125.63818359375,
                        "z": 369.1319885253906
                    },
                    "rotation": {
                        "roll": -0.0014648429350927472,
                        "pitch": -0.11767732352018356,
                        "yaw": -6.45868444442749
                    }
                },
                "velocity": {
                    "x": 5.8469177020015195e-06,
                    "y": 2.4730026780162007e-05,
                    "z": 0.001017052331008017
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18844,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00014954702055547386,
                "transform": {
                    "location": {
                        "x": 358.7681579589844,
                        "y": 5168.83251953125,
                        "z": 368.69635009765625
                    },
                    "rotation": {
                        "roll": -0.006988551001995802,
                        "pitch": -0.38794106245040894,
                        "yaw": 90.59996795654297
                    }
                },
                "velocity": {
                    "x": -6.221848161658272e-05,
                    "y": -8.210095984395593e-05,
                    "z": -0.00010840942559298128
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 18843,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.145950025413185e-05,
                "transform": {
                    "location": {
                        "x": 358.8507385253906,
                        "y": 5178.01416015625,
                        "z": 368.63470458984375
                    },
                    "rotation": {
                        "roll": -0.0006408902117982507,
                        "pitch": -0.3661186099052429,
                        "yaw": 89.73802947998047
                    }
                },
                "velocity": {
                    "x": 7.145525842133793e-07,
                    "y": 1.0821036994457245e-05,
                    "z": 9.081429016077891e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18838,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 4.0306077003479,
                "transform": {
                    "location": {
                        "x": 340.3210754394531,
                        "y": 5123.4990234375,
                        "z": 369.07806396484375
                    },
                    "rotation": {
                        "roll": 0.00133054843172431,
                        "pitch": -0.4194282293319702,
                        "yaw": -9.846784591674805
                    }
                },
                "velocity": {
                    "x": 3.9711928367614746,
                    "y": -0.6894906759262085,
                    "z": -0.0055551049299538136
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 18836,
                "type": "vehicle.bh.crossbike",
                "speed_kmh": 3.3030624389648438,
                "transform": {
                    "location": {
                        "x": 372.23480224609375,
                        "y": 5119.20751953125,
                        "z": 369.1032409667969
                    },
                    "rotation": {
                        "roll": 0.007789089810103178,
                        "pitch": 0.1456332802772522,
                        "yaw": -10.97563362121582
                    }
                },
                "velocity": {
                    "x": 3.2391269207000732,
                    "y": -0.6466691493988037,
                    "z": 0.009864559397101402
                },
                "bounding_box_extent": {
                    "x": 0.7546613812446594,
                    "y": 0.4329703152179718,
                    "z": 0.8061768412590027
                }
            },
            {
                "id": 18835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 439.79443359375,
                        "y": 5099.8369140625,
                        "z": 369.40960693359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3761453330516815,
                        "yaw": -15.139639854431152
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 18834,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 439.87115478515625,
                        "y": 5096.4443359375,
                        "z": 369.4151611328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3761453330516815,
                        "yaw": -15.139639854431152
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 18825,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 441.20257568359375,
                        "y": 5089.3466796875,
                        "z": 369.43560791015625
                    },
                    "rotation": {
                        "roll": 3.335125065007105e-09,
                        "pitch": -0.3761863112449646,
                        "yaw": 164.86036682128906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18824,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.060982704162598,
                "transform": {
                    "location": {
                        "x": 421.6207275390625,
                        "y": 5094.541015625,
                        "z": 369.3083801269531
                    },
                    "rotation": {
                        "roll": 0.0003127504896838218,
                        "pitch": -0.3516249358654022,
                        "yaw": 164.86419677734375
                    }
                },
                "velocity": {
                    "x": -7.781199932098389,
                    "y": 2.1047635078430176,
                    "z": -0.048418834805488586
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18840,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.308996200561523,
                "transform": {
                    "location": {
                        "x": 386.3104553222656,
                        "y": 5110.67724609375,
                        "z": 369.134765625
                    },
                    "rotation": {
                        "roll": 0.00799269787967205,
                        "pitch": 0.17606177926063538,
                        "yaw": -13.065906524658203
                    }
                },
                "velocity": {
                    "x": 11.016597747802734,
                    "y": -2.5548155307769775,
                    "z": 0.029654264450073242
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18821,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 452.31854248046875,
                        "y": 5089.70166015625,
                        "z": 369.5078125
                    },
                    "rotation": {
                        "roll": -3.335134612925117e-09,
                        "pitch": -0.40069302916526794,
                        "yaw": 164.70187377929688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18820,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 434.5994567871094,
                        "y": 5094.4990234375,
                        "z": 369.3863525390625
                    },
                    "rotation": {
                        "roll": -3.3351159611783032e-09,
                        "pitch": -0.35168641805648804,
                        "yaw": 164.8603973388672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18841,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.360387802124023,
                "transform": {
                    "location": {
                        "x": 397.7423095703125,
                        "y": 5111.228515625,
                        "z": 369.17584228515625
                    },
                    "rotation": {
                        "roll": 0.07690311223268509,
                        "pitch": 0.20032261312007904,
                        "yaw": -14.318222999572754
                    }
                },
                "velocity": {
                    "x": 12.943779945373535,
                    "y": -3.310053586959839,
                    "z": 0.04544539377093315
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 1.0000320672988892,
        "expert_target_speed": 10.0,
        "target_point": [
            7.489914067791476,
            -14.233559568163894
        ],
        "target_point_next": [
            14.976834933160587,
            -40.17468365493307
        ]
    },
    "220": {
        "acceleration": [
            10.250463485717773,
            5.65150260925293,
            0.021550171077251434
        ],
        "angular_velocity": [
            3.6886768341064453,
            -2.1261849403381348,
            -54.64883041381836
        ],
        "forward_vector": [
            -0.8821765780448914,
            0.47074511647224426,
            -0.012782701291143894
        ],
        "right_vector": [
            -0.4698590934276581,
            -0.8816872835159302,
            -0.043127141892910004
        ],
        "location": [
            359.57818603515625,
            5114.2255859375,
            369.07147216796875
        ],
        "rotation": [
            2.4719719886779785,
            -0.7324147820472717,
            151.91482543945312
        ],
        "velocity": [
            -7.334460258483887,
            4.72199010848999,
            -0.012060098350048065
        ],
        "speed": 8.72304407119194,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.1672633512237782,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 55.00166320800781,
        "front_vehicle_info": {
            "id": 18847,
            "type": "vehicle.audi.tt",
            "location": [
                361.5533447265625,
                5169.1904296875,
                368.6872253417969
            ],
            "velocity": [
                -7.410143552988302e-06,
                2.617917925817892e-05,
                0.0012034227838739753
            ],
            "speed_kmh": 0.00433342911179567,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 18847,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0012037302367389202,
                "transform": {
                    "location": {
                        "x": 361.5533447265625,
                        "y": 5169.1904296875,
                        "z": 368.6872253417969
                    },
                    "rotation": {
                        "roll": -3.053639375139028e-05,
                        "pitch": 0.3734883964061737,
                        "yaw": -90.31674194335938
                    }
                },
                "velocity": {
                    "x": -7.410143552988302e-06,
                    "y": 2.617917925817892e-05,
                    "z": 0.0012034227838739753
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18846,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.001291257212869823,
                "transform": {
                    "location": {
                        "x": 310.4577331542969,
                        "y": 5122.4140625,
                        "z": 369.1419982910156
                    },
                    "rotation": {
                        "roll": -0.0020751953125,
                        "pitch": -0.11642056703567505,
                        "yaw": -6.458683967590332
                    }
                },
                "velocity": {
                    "x": -8.816066838335246e-06,
                    "y": -0.00011827332491520792,
                    "z": 0.0012857989640906453
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0016383456531912088,
                "transform": {
                    "location": {
                        "x": 310.8645324707031,
                        "y": 5125.63818359375,
                        "z": 369.1321105957031
                    },
                    "rotation": {
                        "roll": -0.0014038090594112873,
                        "pitch": -0.11785490810871124,
                        "yaw": -6.458683967590332
                    }
                },
                "velocity": {
                    "x": 9.490214324614499e-06,
                    "y": 1.0876152373384684e-05,
                    "z": 0.0016382820904254913
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18844,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0004856861487496644,
                "transform": {
                    "location": {
                        "x": 358.7681579589844,
                        "y": 5168.8330078125,
                        "z": 368.6963195800781
                    },
                    "rotation": {
                        "roll": -0.007629357744008303,
                        "pitch": -0.38275012373924255,
                        "yaw": 90.59992980957031
                    }
                },
                "velocity": {
                    "x": 3.006336191901937e-05,
                    "y": 2.520531324989861e-06,
                    "z": -0.0004847482487093657
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 18843,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0013124104589223862,
                "transform": {
                    "location": {
                        "x": 358.8507385253906,
                        "y": 5178.01416015625,
                        "z": 368.63470458984375
                    },
                    "rotation": {
                        "roll": -0.0006408902117982507,
                        "pitch": -0.3661186099052429,
                        "yaw": 89.73802947998047
                    }
                },
                "velocity": {
                    "x": 4.780257540915045e-07,
                    "y": 1.8355174688622355e-05,
                    "z": 0.0013122819364070892
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18838,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.9662914276123047,
                "transform": {
                    "location": {
                        "x": 341.30584716796875,
                        "y": 5123.328125,
                        "z": 369.0765686035156
                    },
                    "rotation": {
                        "roll": 0.002649592002853751,
                        "pitch": -0.360012412071228,
                        "yaw": -9.845958709716797
                    }
                },
                "velocity": {
                    "x": 3.9078731536865234,
                    "y": -0.6782076358795166,
                    "z": -0.005480041261762381
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 18836,
                "type": "vehicle.bh.crossbike",
                "speed_kmh": 3.3436551094055176,
                "transform": {
                    "location": {
                        "x": 373.0504455566406,
                        "y": 5119.0439453125,
                        "z": 369.10546875
                    },
                    "rotation": {
                        "roll": -0.06964111328125,
                        "pitch": 0.13805177807807922,
                        "yaw": -11.101518630981445
                    }
                },
                "velocity": {
                    "x": 3.2789089679718018,
                    "y": -0.6547502279281616,
                    "z": 0.00938244815915823
                },
                "bounding_box_extent": {
                    "x": 0.7546613812446594,
                    "y": 0.4329703152179718,
                    "z": 0.8061768412590027
                }
            },
            {
                "id": 18825,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 439.19158935546875,
                        "y": 5089.89111328125,
                        "z": 369.4221496582031
                    },
                    "rotation": {
                        "roll": -3.3351204020704017e-09,
                        "pitch": -0.36391928791999817,
                        "yaw": 164.86036682128906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18824,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.048606872558594,
                "transform": {
                    "location": {
                        "x": 419.67681884765625,
                        "y": 5095.06640625,
                        "z": 369.2964782714844
                    },
                    "rotation": {
                        "roll": 0.0005005667335353792,
                        "pitch": -0.33572426438331604,
                        "yaw": 164.864013671875
                    }
                },
                "velocity": {
                    "x": -7.76925802230835,
                    "y": 2.1015069484710693,
                    "z": -0.04862789064645767
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18840,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.96307373046875,
                "transform": {
                    "location": {
                        "x": 389.14666748046875,
                        "y": 5110.01416015625,
                        "z": 369.1427307128906
                    },
                    "rotation": {
                        "roll": 0.0070332991890609264,
                        "pitch": 0.18305589258670807,
                        "yaw": -13.48424243927002
                    }
                },
                "velocity": {
                    "x": 11.638222694396973,
                    "y": -2.7687127590179443,
                    "z": 0.03366176411509514
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18821,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 450.3083190917969,
                        "y": 5090.2470703125,
                        "z": 369.4933776855469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3884328305721283,
                        "yaw": 164.8603973388672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18820,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 432.5887451171875,
                        "y": 5095.0439453125,
                        "z": 369.37347412109375
                    },
                    "rotation": {
                        "roll": -3.3351159611783032e-09,
                        "pitch": -0.35168641805648804,
                        "yaw": 164.8603973388672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18841,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.39625358581543,
                "transform": {
                    "location": {
                        "x": 400.9815979003906,
                        "y": 5110.3916015625,
                        "z": 369.1880798339844
                    },
                    "rotation": {
                        "roll": 0.05049755424261093,
                        "pitch": 0.22814196348190308,
                        "yaw": -14.611954689025879
                    }
                },
                "velocity": {
                    "x": 12.964460372924805,
                    "y": -3.373368740081787,
                    "z": 0.05241727828979492
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -1.0012224912643433,
        "expert_target_speed": 10.0,
        "target_point": [
            7.838783889401972,
            -12.57225497187889
        ],
        "target_point_next": [
            20.41804810473046,
            -36.46279734182962
        ]
    },
    "225": {
        "acceleration": [
            10.748424530029297,
            1.9219207763671875,
            0.022580334916710854
        ],
        "angular_velocity": [
            0.42947331070899963,
            -0.33701997995376587,
            -68.2884292602539
        ],
        "forward_vector": [
            -0.7205575704574585,
            0.6932700276374817,
            -0.013175224885344505
        ],
        "right_vector": [
            -0.6915991306304932,
            -0.7199281454086304,
            -0.058260321617126465
        ],
        "location": [
            358.0960388183594,
            5115.5087890625,
            369.0705261230469
        ],
        "rotation": [
            3.340251922607422,
            -0.7549065947532654,
            136.10569763183594
        ],
        "velocity": [
            -4.437839984893799,
            5.73896598815918,
            -0.0042159175500273705
        ],
        "speed": 7.25466431647737,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 48.136226654052734,
        "front_vehicle_info": {
            "id": 18846,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                310.4577331542969,
                5122.4140625,
                369.14202880859375
            ],
            "velocity": [
                9.742825568537228e-06,
                -4.224049916956574e-05,
                0.0012878113193437457
            ],
            "speed_kmh": 0.004638746577404765,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 18847,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0013338676653802395,
                "transform": {
                    "location": {
                        "x": 361.5533447265625,
                        "y": 5169.1904296875,
                        "z": 368.6872253417969
                    },
                    "rotation": {
                        "roll": -3.053639375139028e-05,
                        "pitch": 0.3734883964061737,
                        "yaw": -90.31674194335938
                    }
                },
                "velocity": {
                    "x": -7.341327091126004e-06,
                    "y": 2.5683268177090213e-05,
                    "z": 0.001333600259386003
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18846,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0012885406613349915,
                "transform": {
                    "location": {
                        "x": 310.4577331542969,
                        "y": 5122.4140625,
                        "z": 369.14202880859375
                    },
                    "rotation": {
                        "roll": -0.0016479482874274254,
                        "pitch": -0.11651618778705597,
                        "yaw": -6.458683490753174
                    }
                },
                "velocity": {
                    "x": 9.742825568537228e-06,
                    "y": -4.224049916956574e-05,
                    "z": 0.0012878113193437457
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0014459682861343026,
                "transform": {
                    "location": {
                        "x": 310.8645324707031,
                        "y": 5125.63818359375,
                        "z": 369.1321105957031
                    },
                    "rotation": {
                        "roll": -0.0014038090594112873,
                        "pitch": -0.11785490810871124,
                        "yaw": -6.458683967590332
                    }
                },
                "velocity": {
                    "x": 6.738025604136055e-06,
                    "y": 2.8023649065289646e-05,
                    "z": 0.0014456809731200337
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18844,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00025409620138816535,
                "transform": {
                    "location": {
                        "x": 358.7681579589844,
                        "y": 5168.8330078125,
                        "z": 368.6963195800781
                    },
                    "rotation": {
                        "roll": -0.0077819847501814365,
                        "pitch": -0.3805234730243683,
                        "yaw": 90.59993743896484
                    }
                },
                "velocity": {
                    "x": -2.6106368750333786e-05,
                    "y": -1.3492330253939144e-05,
                    "z": -0.0002523911534808576
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 18843,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0005205519846640527,
                "transform": {
                    "location": {
                        "x": 358.8507385253906,
                        "y": 5178.01416015625,
                        "z": 368.63470458984375
                    },
                    "rotation": {
                        "roll": -0.0006408902117982507,
                        "pitch": -0.3661186099052429,
                        "yaw": 89.73802947998047
                    }
                },
                "velocity": {
                    "x": -6.026795290381415e-06,
                    "y": 1.522168440715177e-05,
                    "z": 0.0005202944739721715
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18838,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.902233362197876,
                "transform": {
                    "location": {
                        "x": 342.2747497558594,
                        "y": 5123.16015625,
                        "z": 369.0750427246094
                    },
                    "rotation": {
                        "roll": 0.001794882700778544,
                        "pitch": -0.3428003489971161,
                        "yaw": -9.846357345581055
                    }
                },
                "velocity": {
                    "x": 3.8447482585906982,
                    "y": -0.6673157215118408,
                    "z": -0.005089196842163801
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 18836,
                "type": "vehicle.bh.crossbike",
                "speed_kmh": 3.2890493869781494,
                "transform": {
                    "location": {
                        "x": 373.8631286621094,
                        "y": 5118.87841796875,
                        "z": 369.1076354980469
                    },
                    "rotation": {
                        "roll": -0.0326538048684597,
                        "pitch": 0.1495196670293808,
                        "yaw": -11.206254005432129
                    }
                },
                "velocity": {
                    "x": 3.2224135398864746,
                    "y": -0.6586368680000305,
                    "z": 0.009649152867496014
                },
                "bounding_box_extent": {
                    "x": 0.7546613812446594,
                    "y": 0.4329703152179718,
                    "z": 0.8061768412590027
                }
            },
            {
                "id": 18848,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 6.156604290008545,
                "transform": {
                    "location": {
                        "x": 323.9906921386719,
                        "y": 5126.3662109375,
                        "z": 369.207763671875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.08923641592264175,
                        "yaw": -5.682834625244141
                    }
                },
                "velocity": {
                    "x": 5.801077365875244,
                    "y": -1.4663958549499512,
                    "z": -1.4494684934616089
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 18825,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 437.1805725097656,
                        "y": 5090.43505859375,
                        "z": 369.40875244140625
                    },
                    "rotation": {
                        "roll": -3.3351204020704017e-09,
                        "pitch": -0.36391928791999817,
                        "yaw": 164.86036682128906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18824,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.059778213500977,
                "transform": {
                    "location": {
                        "x": 417.7328796386719,
                        "y": 5095.59228515625,
                        "z": 369.28472900390625
                    },
                    "rotation": {
                        "roll": 0.0012404025765135884,
                        "pitch": -0.32211169600486755,
                        "yaw": 164.85870361328125
                    }
                },
                "velocity": {
                    "x": -7.779670715332031,
                    "y": 2.105886459350586,
                    "z": -0.04455910250544548
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18840,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.585654258728027,
                "transform": {
                    "location": {
                        "x": 392.1332702636719,
                        "y": 5109.296875,
                        "z": 369.15155029296875
                    },
                    "rotation": {
                        "roll": 0.009217874146997929,
                        "pitch": 0.19380660355091095,
                        "yaw": -13.831530570983887
                    }
                },
                "velocity": {
                    "x": 12.223791122436523,
                    "y": -2.996011972427368,
                    "z": 0.03934573009610176
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18821,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 448.2977600097656,
                        "y": 5090.79296875,
                        "z": 369.47900390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3884328305721283,
                        "yaw": 164.8603973388672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18820,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 430.5777282714844,
                        "y": 5095.58837890625,
                        "z": 369.36077880859375
                    },
                    "rotation": {
                        "roll": -3.3351155170890934e-09,
                        "pitch": -0.3501906096935272,
                        "yaw": 164.8603973388672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18841,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.394721031188965,
                "transform": {
                    "location": {
                        "x": 404.2203674316406,
                        "y": 5109.53759765625,
                        "z": 369.20159912109375
                    },
                    "rotation": {
                        "roll": 0.04584139212965965,
                        "pitch": 0.24618732929229736,
                        "yaw": -14.887043952941895
                    }
                },
                "velocity": {
                    "x": 12.945414543151855,
                    "y": -3.4396939277648926,
                    "z": 0.05754156783223152
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.8412102460861206,
        "expert_target_speed": 10.0,
        "target_point": [
            9.009634295188087,
            -10.064071823973983
        ],
        "target_point_next": [
            27.621668017528712,
            -29.62393132367158
        ]
    },
    "230": {
        "acceleration": [
            11.353796005249023,
            -6.710615158081055,
            0.015806961804628372
        ],
        "angular_velocity": [
            -2.4049644470214844,
            1.2569884061813354,
            -65.99600982666016
        ],
        "forward_vector": [
            -0.4856451153755188,
            0.8740667700767517,
            -0.01249519269913435
        ],
        "right_vector": [
            -0.8724072575569153,
            -0.48552772402763367,
            -0.05628885701298714
        ],
        "location": [
            357.25823974609375,
            5116.95068359375,
            369.0700378417969
        ],
        "rotation": [
            3.227071762084961,
            -0.7159404158592224,
            119.0572280883789
        ],
        "velocity": [
            -1.8850046396255493,
            5.626349449157715,
            0.0008862018585205078
        ],
        "speed": 5.933721481115133,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.1075527207485654,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 52.417415618896484,
        "front_vehicle_info": {
            "id": 18847,
            "type": "vehicle.audi.tt",
            "location": [
                361.5533447265625,
                5169.1904296875,
                368.6872253417969
            ],
            "velocity": [
                9.926165148499422e-06,
                2.148591011064127e-05,
                0.0008381353109143674
            ],
            "speed_kmh": 0.0030184899210469666,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 18847,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0008384694228880107,
                "transform": {
                    "location": {
                        "x": 361.5533447265625,
                        "y": 5169.1904296875,
                        "z": 368.6872253417969
                    },
                    "rotation": {
                        "roll": -3.053639375139028e-05,
                        "pitch": 0.3734883964061737,
                        "yaw": -90.31674194335938
                    }
                },
                "velocity": {
                    "x": 9.926165148499422e-06,
                    "y": 2.148591011064127e-05,
                    "z": 0.0008381353109143674
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18846,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0007838854216970503,
                "transform": {
                    "location": {
                        "x": 310.4577331542969,
                        "y": 5122.4140625,
                        "z": 369.1420593261719
                    },
                    "rotation": {
                        "roll": -0.0003662108210846782,
                        "pitch": -0.11590830236673355,
                        "yaw": -6.458683967590332
                    }
                },
                "velocity": {
                    "x": -5.467813480208861e-06,
                    "y": 3.8170885090949014e-05,
                    "z": 0.0007829364039935172
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0008033079793676734,
                "transform": {
                    "location": {
                        "x": 310.8645324707031,
                        "y": 5125.63818359375,
                        "z": 369.13214111328125
                    },
                    "rotation": {
                        "roll": -0.0016479486366733909,
                        "pitch": -0.11764317005872726,
                        "yaw": -6.458683967590332
                    }
                },
                "velocity": {
                    "x": -1.375134957015689e-06,
                    "y": -2.794899046421051e-06,
                    "z": 0.0008033019257709384
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18844,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.519726881990209e-05,
                "transform": {
                    "location": {
                        "x": 358.7681579589844,
                        "y": 5168.8330078125,
                        "z": 368.6963195800781
                    },
                    "rotation": {
                        "roll": -0.0077819847501814365,
                        "pitch": -0.3805234730243683,
                        "yaw": 90.59993743896484
                    }
                },
                "velocity": {
                    "x": -4.223296400596155e-06,
                    "y": 5.373555904952809e-05,
                    "z": -7.846765947761014e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 18843,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0016968791605904698,
                "transform": {
                    "location": {
                        "x": 358.8507385253906,
                        "y": 5178.01416015625,
                        "z": 368.63470458984375
                    },
                    "rotation": {
                        "roll": -0.0006408902117982507,
                        "pitch": -0.3661186099052429,
                        "yaw": 89.73802947998047
                    }
                },
                "velocity": {
                    "x": 5.644201905852242e-07,
                    "y": 2.057205892924685e-05,
                    "z": 0.0016967543633654714
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18838,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.9932756423950195,
                "transform": {
                    "location": {
                        "x": 343.2369384765625,
                        "y": 5122.9931640625,
                        "z": 369.0734558105469
                    },
                    "rotation": {
                        "roll": 0.00499990489333868,
                        "pitch": -0.4289904832839966,
                        "yaw": -9.845959663391113
                    }
                },
                "velocity": {
                    "x": 3.934515953063965,
                    "y": -0.6824971437454224,
                    "z": -0.005794238764792681
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 18836,
                "type": "vehicle.bh.crossbike",
                "speed_kmh": 3.3333969116210938,
                "transform": {
                    "location": {
                        "x": 374.67486572265625,
                        "y": 5118.71435546875,
                        "z": 369.10986328125
                    },
                    "rotation": {
                        "roll": 0.03266516700387001,
                        "pitch": 0.13504649698734283,
                        "yaw": -11.104966163635254
                    }
                },
                "velocity": {
                    "x": 3.26818585395813,
                    "y": -0.6560530066490173,
                    "z": 0.009520607069134712
                },
                "bounding_box_extent": {
                    "x": 0.7546613812446594,
                    "y": 0.4329703152179718,
                    "z": 0.8061768412590027
                }
            },
            {
                "id": 18848,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.5491893291473389,
                "transform": {
                    "location": {
                        "x": 324.5088195800781,
                        "y": 5126.2431640625,
                        "z": 369.0816345214844
                    },
                    "rotation": {
                        "roll": 2.8376622200012207,
                        "pitch": 2.5701727867126465,
                        "yaw": -6.442112922668457
                    }
                },
                "velocity": {
                    "x": 0.5268896222114563,
                    "y": -0.13912589848041534,
                    "z": 0.06811897456645966
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 18825,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 435.16949462890625,
                        "y": 5090.9794921875,
                        "z": 369.3956298828125
                    },
                    "rotation": {
                        "roll": -3.3351159611783032e-09,
                        "pitch": -0.35168641805648804,
                        "yaw": 164.8603973388672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18824,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.049453735351562,
                "transform": {
                    "location": {
                        "x": 415.7890930175781,
                        "y": 5096.11865234375,
                        "z": 369.2734680175781
                    },
                    "rotation": {
                        "roll": 0.0016365100163966417,
                        "pitch": -0.324003666639328,
                        "yaw": 164.85687255859375
                    }
                },
                "velocity": {
                    "x": -7.769840717315674,
                    "y": 2.102677822113037,
                    "z": -0.045075178146362305
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18840,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.20458698272705,
                "transform": {
                    "location": {
                        "x": 395.2684020996094,
                        "y": 5108.5224609375,
                        "z": 369.1617736816406
                    },
                    "rotation": {
                        "roll": 0.007864641025662422,
                        "pitch": 0.2148026078939438,
                        "yaw": -14.203418731689453
                    }
                },
                "velocity": {
                    "x": 12.808389663696289,
                    "y": -3.2100279331207275,
                    "z": 0.04490697756409645
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18821,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 446.2870178222656,
                        "y": 5091.337890625,
                        "z": 369.4648742675781
                    },
                    "rotation": {
                        "roll": 3.335125065007105e-09,
                        "pitch": -0.3761863112449646,
                        "yaw": 164.86036682128906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18820,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 428.5665283203125,
                        "y": 5096.1318359375,
                        "z": 369.3480529785156
                    },
                    "rotation": {
                        "roll": -3.3351155170890934e-09,
                        "pitch": -0.3501906096935272,
                        "yaw": 164.8603973388672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18841,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.388392448425293,
                "transform": {
                    "location": {
                        "x": 407.454833984375,
                        "y": 5108.67333984375,
                        "z": 369.2166442871094
                    },
                    "rotation": {
                        "roll": 0.03299814462661743,
                        "pitch": 0.27831652760505676,
                        "yaw": -15.032181739807129
                    }
                },
                "velocity": {
                    "x": 12.930389404296875,
                    "y": -3.4712984561920166,
                    "z": 0.06453927606344223
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.9998659491539001,
        "expert_target_speed": 10.0,
        "target_point": [
            9.896997840596631,
            -7.012425759834468
        ],
        "target_point_next": [
            33.42573170851402,
            -20.25608784787388
        ]
    },
    "235": {
        "acceleration": [
            4.909433364868164,
            -4.696502685546875,
            0.03821601718664169
        ],
        "angular_velocity": [
            -0.9088161587715149,
            3.9286396503448486,
            -44.379337310791016
        ],
        "forward_vector": [
            -0.28029128909111023,
            0.959799587726593,
            -0.014883325435221195
        ],
        "right_vector": [
            -0.9589065909385681,
            -0.28067371249198914,
            -0.041477713733911514
        ],
        "location": [
            356.9934387207031,
            5118.16259765625,
            369.0703430175781
        ],
        "rotation": [
            2.377443313598633,
            -0.852783203125,
            106.2794418334961
        ],
        "velocity": [
            -0.10225564986467361,
            4.343968868255615,
            0.001752672134898603
        ],
        "speed": 4.34517223436577,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0817241740798784,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 51.23259735107422,
        "front_vehicle_info": {
            "id": 18847,
            "type": "vehicle.audi.tt",
            "location": [
                361.5533447265625,
                5169.1904296875,
                368.6872253417969
            ],
            "velocity": [
                -1.3323840448720148e-06,
                1.145094574894756e-05,
                0.0009629118139855564
            ],
            "speed_kmh": 0.003466730954300739,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 18847,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0009629807900637388,
                "transform": {
                    "location": {
                        "x": 361.5533447265625,
                        "y": 5169.1904296875,
                        "z": 368.6872253417969
                    },
                    "rotation": {
                        "roll": -3.053639375139028e-05,
                        "pitch": 0.3734883964061737,
                        "yaw": -90.31674194335938
                    }
                },
                "velocity": {
                    "x": -1.3323840448720148e-06,
                    "y": 1.145094574894756e-05,
                    "z": 0.0009629118139855564
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18846,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0010862533235922456,
                "transform": {
                    "location": {
                        "x": 310.4577331542969,
                        "y": 5122.4140625,
                        "z": 369.1420593261719
                    },
                    "rotation": {
                        "roll": -0.0008850094163790345,
                        "pitch": -0.11618150770664215,
                        "yaw": -6.458683490753174
                    }
                },
                "velocity": {
                    "x": -1.076655462384224e-05,
                    "y": -0.00012639908527489752,
                    "z": 0.0010788205545395613
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0015706083504483104,
                "transform": {
                    "location": {
                        "x": 310.8645324707031,
                        "y": 5125.63818359375,
                        "z": 369.13214111328125
                    },
                    "rotation": {
                        "roll": -0.0016479486366733909,
                        "pitch": -0.11764317005872726,
                        "yaw": -6.458683967590332
                    }
                },
                "velocity": {
                    "x": 6.276312888076063e-06,
                    "y": -1.3849607057636604e-05,
                    "z": 0.0015705347759649158
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18844,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0005485694855451584,
                "transform": {
                    "location": {
                        "x": 358.7681579589844,
                        "y": 5168.8330078125,
                        "z": 368.6963195800781
                    },
                    "rotation": {
                        "roll": -0.0077819847501814365,
                        "pitch": -0.3805234730243683,
                        "yaw": 90.59993743896484
                    }
                },
                "velocity": {
                    "x": -4.187845115666278e-05,
                    "y": 4.1215866986021865e-06,
                    "z": -0.0005469531170092523
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 18843,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0009366125450469553,
                "transform": {
                    "location": {
                        "x": 358.8507385253906,
                        "y": 5178.01416015625,
                        "z": 368.63470458984375
                    },
                    "rotation": {
                        "roll": -0.0006408902117982507,
                        "pitch": -0.3661186099052429,
                        "yaw": 89.73802947998047
                    }
                },
                "velocity": {
                    "x": 4.020444976049475e-06,
                    "y": 1.9859708118019626e-05,
                    "z": 0.0009363933349959552
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18838,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 4.182634353637695,
                "transform": {
                    "location": {
                        "x": 344.24578857421875,
                        "y": 5122.818359375,
                        "z": 369.07183837890625
                    },
                    "rotation": {
                        "roll": 0.0030548395588994026,
                        "pitch": -0.4960288107395172,
                        "yaw": -9.84638786315918
                    }
                },
                "velocity": {
                    "x": 4.121042251586914,
                    "y": -0.7151308059692383,
                    "z": -0.005346688907593489
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 18836,
                "type": "vehicle.bh.crossbike",
                "speed_kmh": 3.279019355773926,
                "transform": {
                    "location": {
                        "x": 375.484130859375,
                        "y": 5118.5458984375,
                        "z": 369.1120910644531
                    },
                    "rotation": {
                        "roll": -0.0720825269818306,
                        "pitch": 0.1436525285243988,
                        "yaw": -11.434163093566895
                    }
                },
                "velocity": {
                    "x": 3.2097959518432617,
                    "y": -0.6701396107673645,
                    "z": 0.009591379202902317
                },
                "bounding_box_extent": {
                    "x": 0.7546613812446594,
                    "y": 0.4329703152179718,
                    "z": 0.8061768412590027
                }
            },
            {
                "id": 18848,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.6215574741363525,
                "transform": {
                    "location": {
                        "x": 324.6358642578125,
                        "y": 5126.220703125,
                        "z": 369.10211181640625
                    },
                    "rotation": {
                        "roll": 0.16468824446201324,
                        "pitch": 0.5349677205085754,
                        "yaw": -7.317848205566406
                    }
                },
                "velocity": {
                    "x": 0.6055141091346741,
                    "y": -0.12730787694454193,
                    "z": 0.0589832104742527
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 18825,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 433.1583251953125,
                        "y": 5091.5234375,
                        "z": 369.3825988769531
                    },
                    "rotation": {
                        "roll": -3.3351159611783032e-09,
                        "pitch": -0.35168641805648804,
                        "yaw": 164.8603973388672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18824,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.059478759765625,
                "transform": {
                    "location": {
                        "x": 413.8451843261719,
                        "y": 5096.64453125,
                        "z": 369.26214599609375
                    },
                    "rotation": {
                        "roll": 5.0330090743955225e-05,
                        "pitch": -0.3240378201007843,
                        "yaw": 164.85659790039062
                    }
                },
                "velocity": {
                    "x": -7.779475688934326,
                    "y": 2.1054468154907227,
                    "z": -0.045235808938741684
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18840,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.441121101379395,
                "transform": {
                    "location": {
                        "x": 398.5075988769531,
                        "y": 5107.69921875,
                        "z": 369.1737365722656
                    },
                    "rotation": {
                        "roll": 0.010273723863065243,
                        "pitch": 0.22430339455604553,
                        "yaw": -14.624470710754395
                    }
                },
                "velocity": {
                    "x": 13.013009071350098,
                    "y": -3.3649563789367676,
                    "z": 0.04896392673254013
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18821,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 444.27593994140625,
                        "y": 5091.8818359375,
                        "z": 369.4509582519531
                    },
                    "rotation": {
                        "roll": 3.335125065007105e-09,
                        "pitch": -0.3761863112449646,
                        "yaw": 164.86036682128906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18820,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 426.5555725097656,
                        "y": 5096.67626953125,
                        "z": 369.3352966308594
                    },
                    "rotation": {
                        "roll": -3.3351155170890934e-09,
                        "pitch": -0.3501906096935272,
                        "yaw": 164.8603973388672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18841,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.389878273010254,
                "transform": {
                    "location": {
                        "x": 410.6872863769531,
                        "y": 5107.8037109375,
                        "z": 369.23260498046875
                    },
                    "rotation": {
                        "roll": 0.016181210055947304,
                        "pitch": 0.2758371829986572,
                        "yaw": -15.080585479736328
                    }
                },
                "velocity": {
                    "x": 12.92882251739502,
                    "y": -3.4828450679779053,
                    "z": 0.06471490859985352
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.9993706345558167,
        "expert_target_speed": 10.0,
        "target_point": [
            9.96528912818131,
            -4.564296604377757
        ],
        "target_point_next": [
            35.84044542382685,
            -12.276118023820136
        ]
    },
    "240": {
        "acceleration": [
            1.4861804246902466,
            -0.1246023178100586,
            -0.007513617165386677
        ],
        "angular_velocity": [
            1.3433856964111328,
            3.055487871170044,
            -32.75212097167969
        ],
        "forward_vector": [
            -0.12231960892677307,
            0.9924478530883789,
            -0.009222973138093948
        ],
        "right_vector": [
            -0.9922016263008118,
            -0.12250299006700516,
            -0.022998718544840813
        ],
        "location": [
            356.9964294433594,
            5119.1669921875,
            369.0693359375
        ],
        "rotation": [
            1.3179017305374146,
            -0.5284448862075806,
            97.02629089355469
        ],
        "velocity": [
            0.3914853632450104,
            3.9571361541748047,
            0.0018674659077078104
        ],
        "speed": 3.9764541154541746,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 12.205363273620605,
        "front_vehicle_info": {
            "id": 18838,
            "type": "vehicle.diamondback.century",
            "location": [
                345.29449462890625,
                5122.63623046875,
                369.0701904296875
            ],
            "velocity": [
                4.255273818969727,
                -0.7386475205421448,
                -0.006371488329023123
            ],
            "speed_kmh": 15.54808118538073,
            "color": "50,96,242"
        },
        "other_vehicles": [
            {
                "id": 18847,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001215236959978938,
                "transform": {
                    "location": {
                        "x": 361.5533447265625,
                        "y": 5169.1904296875,
                        "z": 368.6872253417969
                    },
                    "rotation": {
                        "roll": -3.053639375139028e-05,
                        "pitch": 0.3734883964061737,
                        "yaw": -90.31674194335938
                    }
                },
                "velocity": {
                    "x": 9.107357982429676e-06,
                    "y": 1.7517357264296152e-05,
                    "z": 0.0012150765396654606
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18846,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0012410000199452043,
                "transform": {
                    "location": {
                        "x": 310.4577331542969,
                        "y": 5122.4140625,
                        "z": 369.1420593261719
                    },
                    "rotation": {
                        "roll": -0.0008850094163790345,
                        "pitch": -0.11618150770664215,
                        "yaw": -6.458683490753174
                    }
                },
                "velocity": {
                    "x": 1.4474298041022848e-05,
                    "y": -8.987953333416954e-05,
                    "z": 0.001237656339071691
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00029786088271066546,
                "transform": {
                    "location": {
                        "x": 310.8645324707031,
                        "y": 5125.63818359375,
                        "z": 369.1321716308594
                    },
                    "rotation": {
                        "roll": -0.0014648438664153218,
                        "pitch": -0.1177661120891571,
                        "yaw": -6.458715438842773
                    }
                },
                "velocity": {
                    "x": 4.8595106818538625e-06,
                    "y": -2.7647661227092613e-06,
                    "z": -0.000297808408504352
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18844,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00013525891699828207,
                "transform": {
                    "location": {
                        "x": 358.7681579589844,
                        "y": 5168.8330078125,
                        "z": 368.6963195800781
                    },
                    "rotation": {
                        "roll": -0.0077819847501814365,
                        "pitch": -0.3805234730243683,
                        "yaw": 90.59993743896484
                    }
                },
                "velocity": {
                    "x": 5.062611307948828e-06,
                    "y": 5.762949513155036e-06,
                    "z": -0.00013504123489838094
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 18843,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.851693665841594e-05,
                "transform": {
                    "location": {
                        "x": 358.8507385253906,
                        "y": 5178.01416015625,
                        "z": 368.63470458984375
                    },
                    "rotation": {
                        "roll": -0.0006408902117982507,
                        "pitch": -0.3661186099052429,
                        "yaw": 89.73802947998047
                    }
                },
                "velocity": {
                    "x": 6.447048122026899e-07,
                    "y": 1.052185871230904e-05,
                    "z": 4.7357872972497717e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18838,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 4.318911552429199,
                "transform": {
                    "location": {
                        "x": 345.29449462890625,
                        "y": 5122.63623046875,
                        "z": 369.0701904296875
                    },
                    "rotation": {
                        "roll": -0.0001831008557928726,
                        "pitch": -0.4804423153400421,
                        "yaw": -9.846083641052246
                    }
                },
                "velocity": {
                    "x": 4.255273818969727,
                    "y": -0.7386475205421448,
                    "z": -0.006371488329023123
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 18836,
                "type": "vehicle.bh.crossbike",
                "speed_kmh": 3.3306162357330322,
                "transform": {
                    "location": {
                        "x": 376.2931823730469,
                        "y": 5118.37890625,
                        "z": 369.1142883300781
                    },
                    "rotation": {
                        "roll": 0.024301864206790924,
                        "pitch": 0.1285099983215332,
                        "yaw": -11.342425346374512
                    }
                },
                "velocity": {
                    "x": 3.262942314147949,
                    "y": -0.6679157018661499,
                    "z": 0.010050344280898571
                },
                "bounding_box_extent": {
                    "x": 0.7546613812446594,
                    "y": 0.4329703152179718,
                    "z": 0.8061768412590027
                }
            },
            {
                "id": 18848,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.7920025587081909,
                "transform": {
                    "location": {
                        "x": 324.80718994140625,
                        "y": 5126.1904296875,
                        "z": 369.1068420410156
                    },
                    "rotation": {
                        "roll": -0.0433349609375,
                        "pitch": 0.11308743804693222,
                        "yaw": -8.018929481506348
                    }
                },
                "velocity": {
                    "x": 0.7809135913848877,
                    "y": -0.13206185400485992,
                    "z": 0.001324024167843163
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 18825,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 431.1472473144531,
                        "y": 5092.0673828125,
                        "z": 369.3697204589844
                    },
                    "rotation": {
                        "roll": -3.3351155170890934e-09,
                        "pitch": -0.3501906096935272,
                        "yaw": 164.8603973388672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18824,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.048263549804688,
                "transform": {
                    "location": {
                        "x": 411.9013977050781,
                        "y": 5097.17041015625,
                        "z": 369.2508544921875
                    },
                    "rotation": {
                        "roll": -0.0002136268885806203,
                        "pitch": -0.32354605197906494,
                        "yaw": 164.85633850097656
                    }
                },
                "velocity": {
                    "x": -7.768662452697754,
                    "y": 2.1024866104125977,
                    "z": -0.04441111907362938
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18840,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.405511856079102,
                "transform": {
                    "location": {
                        "x": 401.7564392089844,
                        "y": 5106.85302734375,
                        "z": 369.1867980957031
                    },
                    "rotation": {
                        "roll": 0.009787976741790771,
                        "pitch": 0.2343710958957672,
                        "yaw": -14.971973419189453
                    }
                },
                "velocity": {
                    "x": 12.959736824035645,
                    "y": -3.4278461933135986,
                    "z": 0.0534355528652668
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18821,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 442.2649230957031,
                        "y": 5092.42626953125,
                        "z": 369.4371032714844
                    },
                    "rotation": {
                        "roll": 3.335125065007105e-09,
                        "pitch": -0.3761863112449646,
                        "yaw": 164.86036682128906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18820,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 424.5445861816406,
                        "y": 5097.22021484375,
                        "z": 369.32257080078125
                    },
                    "rotation": {
                        "roll": -3.3351155170890934e-09,
                        "pitch": -0.3501906096935272,
                        "yaw": 164.8603973388672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18841,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.389824867248535,
                "transform": {
                    "location": {
                        "x": 413.91937255859375,
                        "y": 5106.931640625,
                        "z": 369.2493591308594
                    },
                    "rotation": {
                        "roll": 0.007928422652184963,
                        "pitch": 0.3114907741546631,
                        "yaw": -15.118030548095703
                    }
                },
                "velocity": {
                    "x": 12.926647186279297,
                    "y": -3.490631341934204,
                    "z": 0.06854251772165298
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.9995552897453308,
        "expert_target_speed": 5.10308928622408,
        "target_point": [
            9.573056427165156,
            -2.776680134660113
        ],
        "target_point_next": [
            36.35155151033494,
            -6.227492214462023
        ]
    },
    "245": {
        "acceleration": [
            2.3756301403045654,
            1.2672233581542969,
            -0.011853601783514023
        ],
        "angular_velocity": [
            1.1940492391586304,
            0.35914692282676697,
            -33.03205108642578
        ],
        "forward_vector": [
            0.01927899569272995,
            0.9998100399971008,
            -0.002868767362087965
        ],
        "right_vector": [
            -0.9996674060821533,
            0.019226929172873497,
            -0.01718781888484955
        ],
        "location": [
            357.1256103515625,
            5120.173828125,
            369.0680847167969
        ],
        "rotation": [
            0.9848419427871704,
            -0.16436849534511566,
            88.89532470703125
        ],
        "velocity": [
            0.9235123991966248,
            4.143673419952393,
            0.0012178801698610187
        ],
        "speed": 4.245339157557363,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 10.992171287536621,
        "front_vehicle_info": {
            "id": 18838,
            "type": "vehicle.diamondback.century",
            "location": [
                346.37152099609375,
                5122.44921875,
                369.06854248046875
            ],
            "velocity": [
                4.350776195526123,
                -0.7552775144577026,
                -0.00611504539847374
            ],
            "speed_kmh": 15.897061548428498,
            "color": "50,96,242"
        },
        "other_vehicles": [
            {
                "id": 18847,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0012503184843808413,
                "transform": {
                    "location": {
                        "x": 361.5533447265625,
                        "y": 5169.1904296875,
                        "z": 368.6872253417969
                    },
                    "rotation": {
                        "roll": -3.053639375139028e-05,
                        "pitch": 0.3734883964061737,
                        "yaw": -90.31674194335938
                    }
                },
                "velocity": {
                    "x": 7.939879651530646e-06,
                    "y": 2.07453213079134e-05,
                    "z": 0.0012501211604103446
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18846,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.1422021088947076e-05,
                "transform": {
                    "location": {
                        "x": 310.4577331542969,
                        "y": 5122.4140625,
                        "z": 369.1420593261719
                    },
                    "rotation": {
                        "roll": -0.0017700191820040345,
                        "pitch": -0.11612004041671753,
                        "yaw": -6.458714485168457
                    }
                },
                "velocity": {
                    "x": 6.11027689956245e-06,
                    "y": 5.996168965793913e-06,
                    "z": 7.561285656265682e-06
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0001663513103267178,
                "transform": {
                    "location": {
                        "x": 310.8645324707031,
                        "y": 5125.63818359375,
                        "z": 369.1321716308594
                    },
                    "rotation": {
                        "roll": -0.0014648438664153218,
                        "pitch": -0.1177661120891571,
                        "yaw": -6.458715438842773
                    }
                },
                "velocity": {
                    "x": 1.0746531188488007e-05,
                    "y": 9.03557247511344e-06,
                    "z": 0.0001657577377045527
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18844,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0003827579494100064,
                "transform": {
                    "location": {
                        "x": 358.76812744140625,
                        "y": 5168.8330078125,
                        "z": 368.6963195800781
                    },
                    "rotation": {
                        "roll": -0.007934586144983768,
                        "pitch": -0.37954676151275635,
                        "yaw": 90.59996032714844
                    }
                },
                "velocity": {
                    "x": 1.536978925287258e-05,
                    "y": 5.165338279766729e-06,
                    "z": -0.0003824143495876342
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 18843,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0012307222932577133,
                "transform": {
                    "location": {
                        "x": 358.8507385253906,
                        "y": 5178.01416015625,
                        "z": 368.63470458984375
                    },
                    "rotation": {
                        "roll": -0.0006408902117982507,
                        "pitch": -0.3661186099052429,
                        "yaw": 89.73802947998047
                    }
                },
                "velocity": {
                    "x": 7.712619662925135e-06,
                    "y": 1.7319805920124054e-05,
                    "z": 0.0012305761920288205
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18838,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 4.415850639343262,
                "transform": {
                    "location": {
                        "x": 346.37152099609375,
                        "y": 5122.44921875,
                        "z": 369.06854248046875
                    },
                    "rotation": {
                        "roll": 0.0026050459127873182,
                        "pitch": -0.4559629261493683,
                        "yaw": -9.846478462219238
                    }
                },
                "velocity": {
                    "x": 4.350776195526123,
                    "y": -0.7552775144577026,
                    "z": -0.00611504539847374
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 18836,
                "type": "vehicle.bh.crossbike",
                "speed_kmh": 3.2791600227355957,
                "transform": {
                    "location": {
                        "x": 377.1012878417969,
                        "y": 5118.2099609375,
                        "z": 369.1164855957031
                    },
                    "rotation": {
                        "roll": -0.0692748948931694,
                        "pitch": 0.13967053592205048,
                        "yaw": -11.60393238067627
                    }
                },
                "velocity": {
                    "x": 3.209038734436035,
                    "y": -0.6744431257247925,
                    "z": 0.009390907362103462
                },
                "bounding_box_extent": {
                    "x": 0.7546613812446594,
                    "y": 0.4329703152179718,
                    "z": 0.8061768412590027
                }
            },
            {
                "id": 18848,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.978736400604248,
                "transform": {
                    "location": {
                        "x": 325.02593994140625,
                        "y": 5126.1513671875,
                        "z": 369.1061096191406
                    },
                    "rotation": {
                        "roll": -0.0179748497903347,
                        "pitch": 0.05402679368853569,
                        "yaw": -8.668621063232422
                    }
                },
                "velocity": {
                    "x": 0.9642802476882935,
                    "y": -0.16758006811141968,
                    "z": -0.00234221457503736
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 18825,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 429.13623046875,
                        "y": 5092.611328125,
                        "z": 369.3570251464844
                    },
                    "rotation": {
                        "roll": -3.3351155170890934e-09,
                        "pitch": -0.3501906096935272,
                        "yaw": 164.8603973388672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18824,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.05937385559082,
                "transform": {
                    "location": {
                        "x": 409.957763671875,
                        "y": 5097.6962890625,
                        "z": 369.2403869628906
                    },
                    "rotation": {
                        "roll": -0.00021361613471526653,
                        "pitch": -0.2853379547595978,
                        "yaw": 164.8563690185547
                    }
                },
                "velocity": {
                    "x": -7.779397964477539,
                    "y": 2.105422258377075,
                    "z": -0.04090411588549614
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18840,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.36289119720459,
                "transform": {
                    "location": {
                        "x": 404.98883056640625,
                        "y": 5105.9921875,
                        "z": 369.2010803222656
                    },
                    "rotation": {
                        "roll": 0.007267727050930262,
                        "pitch": 0.26235437393188477,
                        "yaw": -15.211260795593262
                    }
                },
                "velocity": {
                    "x": 12.904009819030762,
                    "y": -3.4712703227996826,
                    "z": 0.06054331734776497
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18821,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 440.28619384765625,
                        "y": 5092.96142578125,
                        "z": 369.4238586425781
                    },
                    "rotation": {
                        "roll": -3.3351204020704017e-09,
                        "pitch": -0.36391928791999817,
                        "yaw": 164.86036682128906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18820,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.698211193084717,
                "transform": {
                    "location": {
                        "x": 422.6466979980469,
                        "y": 5097.73388671875,
                        "z": 369.3089294433594
                    },
                    "rotation": {
                        "roll": -0.0012817385140806437,
                        "pitch": -0.3979472815990448,
                        "yaw": 164.86505126953125
                    }
                },
                "velocity": {
                    "x": -6.466958522796631,
                    "y": 1.7434630393981934,
                    "z": -0.06941428780555725
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18841,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.389086723327637,
                "transform": {
                    "location": {
                        "x": 417.1510009765625,
                        "y": 5106.05859375,
                        "z": 369.2677917480469
                    },
                    "rotation": {
                        "roll": 0.004185761325061321,
                        "pitch": 0.3304513692855835,
                        "yaw": -15.12681770324707
                    }
                },
                "velocity": {
                    "x": 12.92490005493164,
                    "y": -3.4941093921661377,
                    "z": 0.07627896964550018
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -1.0002882480621338,
        "expert_target_speed": 5.356874123647926,
        "target_point": [
            8.860404832797354,
            -1.2850515105863827
        ],
        "target_point_next": [
            35.857775730968015,
            -0.9137463583693085
        ]
    },
    "250": {
        "acceleration": [
            2.7001070976257324,
            2.688159942626953,
            -0.004441071301698685
        ],
        "angular_velocity": [
            0.9284787774085999,
            -0.0886458232998848,
            -31.24813461303711
        ],
        "forward_vector": [
            0.1579272300004959,
            0.9874489903450012,
            0.0018478620331734419
        ],
        "right_vector": [
            -0.9873276948928833,
            0.15793681144714355,
            -0.015491842292249203
        ],
        "location": [
            357.40191650390625,
            5121.27978515625,
            369.0671081542969
        ],
        "rotation": [
            0.8876542448997498,
            0.10587475448846817,
            80.91337585449219
        ],
        "velocity": [
            1.5358468294143677,
            4.704678535461426,
            0.0007190894684754312
        ],
        "speed": 4.949022691951779,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.9412083781058236,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 48.09166717529297,
        "front_vehicle_info": {
            "id": 18847,
            "type": "vehicle.audi.tt",
            "location": [
                361.5533447265625,
                5169.1904296875,
                368.6872253417969
            ],
            "velocity": [
                4.173896570591751e-07,
                2.2369547878042795e-05,
                0.0012630164856091142
            ],
            "speed_kmh": 0.004547572685613285,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 18847,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0012632146244868636,
                "transform": {
                    "location": {
                        "x": 361.5533447265625,
                        "y": 5169.1904296875,
                        "z": 368.6872253417969
                    },
                    "rotation": {
                        "roll": -3.053639375139028e-05,
                        "pitch": 0.3734883964061737,
                        "yaw": -90.31674194335938
                    }
                },
                "velocity": {
                    "x": 4.173896570591751e-07,
                    "y": 2.2369547878042795e-05,
                    "z": 0.0012630164856091142
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18846,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0007302628946490586,
                "transform": {
                    "location": {
                        "x": 310.4577331542969,
                        "y": 5122.4140625,
                        "z": 369.1420593261719
                    },
                    "rotation": {
                        "roll": -0.0013427722733467817,
                        "pitch": -0.11596977710723877,
                        "yaw": -6.458714485168457
                    }
                },
                "velocity": {
                    "x": 2.0759123799507506e-05,
                    "y": -7.410780199279543e-06,
                    "z": 0.0007299301796592772
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00019828691438306123,
                "transform": {
                    "location": {
                        "x": 310.8645324707031,
                        "y": 5125.63818359375,
                        "z": 369.1321716308594
                    },
                    "rotation": {
                        "roll": -0.0014648438664153218,
                        "pitch": -0.1177661120891571,
                        "yaw": -6.458715438842773
                    }
                },
                "velocity": {
                    "x": 5.891490673093358e-06,
                    "y": 1.6759555364842527e-05,
                    "z": 0.0001974895130842924
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18844,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00017883710097521544,
                "transform": {
                    "location": {
                        "x": 358.7681579589844,
                        "y": 5168.8330078125,
                        "z": 368.6963195800781
                    },
                    "rotation": {
                        "roll": -0.007659918162971735,
                        "pitch": -0.37948527932167053,
                        "yaw": 90.59996032714844
                    }
                },
                "velocity": {
                    "x": 5.067482106824173e-06,
                    "y": 1.4831423868599813e-05,
                    "z": -0.00017814898455981165
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 18843,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0004111515881959349,
                "transform": {
                    "location": {
                        "x": 358.8507385253906,
                        "y": 5178.0146484375,
                        "z": 368.63470458984375
                    },
                    "rotation": {
                        "roll": -0.0005493344506248832,
                        "pitch": -0.3659956753253937,
                        "yaw": 89.73802185058594
                    }
                },
                "velocity": {
                    "x": -1.251097819476854e-05,
                    "y": 1.2956708815181628e-05,
                    "z": 0.00041075688204728067
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18838,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 4.484763145446777,
                "transform": {
                    "location": {
                        "x": 347.4686279296875,
                        "y": 5122.2587890625,
                        "z": 369.0668640136719
                    },
                    "rotation": {
                        "roll": 0.003705133218318224,
                        "pitch": -0.4403081238269806,
                        "yaw": -9.845685958862305
                    }
                },
                "velocity": {
                    "x": 4.41874885559082,
                    "y": -0.7666344046592712,
                    "z": -0.005765991285443306
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 18836,
                "type": "vehicle.bh.crossbike",
                "speed_kmh": 3.3210015296936035,
                "transform": {
                    "location": {
                        "x": 377.90838623046875,
                        "y": 5118.0400390625,
                        "z": 369.11865234375
                    },
                    "rotation": {
                        "roll": -0.029144281521439552,
                        "pitch": 0.13664475083351135,
                        "yaw": -11.575211524963379
                    }
                },
                "velocity": {
                    "x": 3.250746488571167,
                    "y": -0.6794169545173645,
                    "z": 0.009636105969548225
                },
                "bounding_box_extent": {
                    "x": 0.7546613812446594,
                    "y": 0.4329703152179718,
                    "z": 0.8061768412590027
                }
            },
            {
                "id": 18848,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 1.1608047485351562,
                "transform": {
                    "location": {
                        "x": 325.2903747558594,
                        "y": 5126.10546875,
                        "z": 369.1056213378906
                    },
                    "rotation": {
                        "roll": -0.006286620628088713,
                        "pitch": 0.04943007603287697,
                        "yaw": -9.097057342529297
                    }
                },
                "velocity": {
                    "x": 1.1442930698394775,
                    "y": -0.19507218897342682,
                    "z": -0.0028175257612019777
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 18825,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 427.12518310546875,
                        "y": 5093.1552734375,
                        "z": 369.34429931640625
                    },
                    "rotation": {
                        "roll": -3.3351155170890934e-09,
                        "pitch": -0.3501906096935272,
                        "yaw": 164.8603973388672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18824,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.047755241394043,
                "transform": {
                    "location": {
                        "x": 408.0140075683594,
                        "y": 5098.22216796875,
                        "z": 369.23046875
                    },
                    "rotation": {
                        "roll": -0.0007629351457580924,
                        "pitch": -0.2680371105670929,
                        "yaw": 164.859375
                    }
                },
                "velocity": {
                    "x": -7.768618583679199,
                    "y": 2.1008622646331787,
                    "z": -0.03625156730413437
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18840,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.367426872253418,
                "transform": {
                    "location": {
                        "x": 408.21429443359375,
                        "y": 5105.12109375,
                        "z": 369.21673583984375
                    },
                    "rotation": {
                        "roll": 0.0025948109105229378,
                        "pitch": 0.2741774320602417,
                        "yaw": -15.291399002075195
                    }
                },
                "velocity": {
                    "x": 12.901040077209473,
                    "y": -3.4995906352996826,
                    "z": 0.06440627574920654
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18821,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 438.63189697265625,
                        "y": 5093.4091796875,
                        "z": 369.4127502441406
                    },
                    "rotation": {
                        "roll": -3.3351204020704017e-09,
                        "pitch": -0.36391928791999817,
                        "yaw": 164.86036682128906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18820,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.914846897125244,
                "transform": {
                    "location": {
                        "x": 421.0014343261719,
                        "y": 5098.171875,
                        "z": 369.2937316894531
                    },
                    "rotation": {
                        "roll": -0.006286622025072575,
                        "pitch": -0.3543911874294281,
                        "yaw": 165.11813354492188
                    }
                },
                "velocity": {
                    "x": -6.68911075592041,
                    "y": 1.7517629861831665,
                    "z": -0.04728545993566513
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18841,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.389165878295898,
                "transform": {
                    "location": {
                        "x": 420.3824462890625,
                        "y": 5105.1845703125,
                        "z": 369.2867431640625
                    },
                    "rotation": {
                        "roll": 0.00288999080657959,
                        "pitch": 0.32821106910705566,
                        "yaw": -15.146045684814453
                    }
                },
                "velocity": {
                    "x": 12.92418098449707,
                    "y": -3.497075080871582,
                    "z": 0.07604774087667465
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.7047010064125061,
        "expert_target_speed": 6.010845929975465,
        "target_point": [
            7.8172933794534805,
            0.05594236441648759
        ],
        "target_point_next": [
            34.501550190663835,
            4.172535781652226
        ]
    },
    "255": {
        "acceleration": [
            1.4719057083129883,
            -0.7987022399902344,
            -0.18448173999786377
        ],
        "angular_velocity": [
            -3.4629173278808594,
            0.7797258496284485,
            -30.24004554748535
        ],
        "forward_vector": [
            0.2820908725261688,
            0.9593789577484131,
            -0.004096495918929577
        ],
        "right_vector": [
            -0.9592933058738708,
            0.28200069069862366,
            -0.01522883865982294
        ],
        "location": [
            357.8327941894531,
            5122.50439453125,
            369.05908203125
        ],
        "rotation": [
            0.8725892305374146,
            -0.2347126007080078,
            73.61482238769531
        ],
        "velocity": [
            2.033067464828491,
            4.857760429382324,
            -0.0806628093123436
        ],
        "speed": 5.26604212913426,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.8934134907071734,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 46.83552932739258,
        "front_vehicle_info": {
            "id": 18847,
            "type": "vehicle.audi.tt",
            "location": [
                361.5533447265625,
                5169.1904296875,
                368.6872253417969
            ],
            "velocity": [
                6.694032208542922e-07,
                2.488613063178491e-05,
                0.001611183281056583
            ],
            "speed_kmh": 0.005800952169471971,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 18847,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001611375599168241,
                "transform": {
                    "location": {
                        "x": 361.5533447265625,
                        "y": 5169.1904296875,
                        "z": 368.6872253417969
                    },
                    "rotation": {
                        "roll": -3.053639375139028e-05,
                        "pitch": 0.3734883964061737,
                        "yaw": -90.31674194335938
                    }
                },
                "velocity": {
                    "x": 6.694032208542922e-07,
                    "y": 2.488613063178491e-05,
                    "z": 0.001611183281056583
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18846,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0002547544427216053,
                "transform": {
                    "location": {
                        "x": 310.4577331542969,
                        "y": 5122.4140625,
                        "z": 369.1420593261719
                    },
                    "rotation": {
                        "roll": -0.0013427722733467817,
                        "pitch": -0.11596977710723877,
                        "yaw": -6.458714485168457
                    }
                },
                "velocity": {
                    "x": 4.476065805647522e-05,
                    "y": -1.1647768587863538e-05,
                    "z": 0.0002505207376088947
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0003198661142960191,
                "transform": {
                    "location": {
                        "x": 310.8645324707031,
                        "y": 5125.63818359375,
                        "z": 369.1321716308594
                    },
                    "rotation": {
                        "roll": -0.0014648438664153218,
                        "pitch": -0.1177661120891571,
                        "yaw": -6.458715438842773
                    }
                },
                "velocity": {
                    "x": 4.3632835513562895e-06,
                    "y": 2.088468500005547e-05,
                    "z": -0.00031915376894176006
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18844,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.4383843740215525e-05,
                "transform": {
                    "location": {
                        "x": 358.7681579589844,
                        "y": 5168.8330078125,
                        "z": 368.6963195800781
                    },
                    "rotation": {
                        "roll": -0.00756833516061306,
                        "pitch": -0.37954676151275635,
                        "yaw": 90.59996032714844
                    }
                },
                "velocity": {
                    "x": 3.832078050436394e-07,
                    "y": 1.1911093679373153e-05,
                    "z": -3.22525629599113e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 18843,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0016293699154630303,
                "transform": {
                    "location": {
                        "x": 358.8507385253906,
                        "y": 5178.0146484375,
                        "z": 368.63470458984375
                    },
                    "rotation": {
                        "roll": -0.0005493344506248832,
                        "pitch": -0.3659956753253937,
                        "yaw": 89.73802185058594
                    }
                },
                "velocity": {
                    "x": 3.6957171687390655e-06,
                    "y": 2.1309033400029875e-05,
                    "z": 0.0016292263753712177
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18838,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 4.533564567565918,
                "transform": {
                    "location": {
                        "x": 348.58001708984375,
                        "y": 5122.06591796875,
                        "z": 369.0650939941406
                    },
                    "rotation": {
                        "roll": 0.004039623308926821,
                        "pitch": -0.42385420203208923,
                        "yaw": -9.845808029174805
                    }
                },
                "velocity": {
                    "x": 4.466843605041504,
                    "y": -0.7749020457267761,
                    "z": -0.006598682142794132
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 18836,
                "type": "vehicle.bh.crossbike",
                "speed_kmh": 3.2723920345306396,
                "transform": {
                    "location": {
                        "x": 378.7144775390625,
                        "y": 5117.86962890625,
                        "z": 369.120849609375
                    },
                    "rotation": {
                        "roll": 0.02305256389081478,
                        "pitch": 0.14234113693237305,
                        "yaw": -11.647875785827637
                    }
                },
                "velocity": {
                    "x": 3.2008731365203857,
                    "y": -0.6803425550460815,
                    "z": 0.009695119224488735
                },
                "bounding_box_extent": {
                    "x": 0.7546613812446594,
                    "y": 0.4329703152179718,
                    "z": 0.8061768412590027
                }
            },
            {
                "id": 18848,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 1.3374143838882446,
                "transform": {
                    "location": {
                        "x": 325.59906005859375,
                        "y": 5126.05224609375,
                        "z": 369.1050720214844
                    },
                    "rotation": {
                        "roll": -0.006958005949854851,
                        "pitch": 0.04988769814372063,
                        "yaw": -9.431499481201172
                    }
                },
                "velocity": {
                    "x": 1.317610502243042,
                    "y": -0.22929376363754272,
                    "z": -0.0020163441076874733
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 18825,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 425.1141662597656,
                        "y": 5093.69970703125,
                        "z": 369.33154296875
                    },
                    "rotation": {
                        "roll": -3.3351155170890934e-09,
                        "pitch": -0.3501906096935272,
                        "yaw": 164.8603973388672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18824,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.059896469116211,
                "transform": {
                    "location": {
                        "x": 406.0701904296875,
                        "y": 5098.74658203125,
                        "z": 369.2210998535156
                    },
                    "rotation": {
                        "roll": -0.003326412057504058,
                        "pitch": -0.2694031298160553,
                        "yaw": 164.91773986816406
                    }
                },
                "velocity": {
                    "x": -7.782823085784912,
                    "y": 2.094809055328369,
                    "z": -0.03714098036289215
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18840,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.366016387939453,
                "transform": {
                    "location": {
                        "x": 411.4390563964844,
                        "y": 5104.24462890625,
                        "z": 369.2328186035156
                    },
                    "rotation": {
                        "roll": 0.001342691364698112,
                        "pitch": 0.2761786878108978,
                        "yaw": -15.263995170593262
                    }
                },
                "velocity": {
                    "x": 12.897740364074707,
                    "y": -3.506281614303589,
                    "z": 0.06848407536745071
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18821,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 436.8624267578125,
                        "y": 5093.8876953125,
                        "z": 369.401123046875
                    },
                    "rotation": {
                        "roll": -3.3351159611783032e-09,
                        "pitch": -0.35168641805648804,
                        "yaw": 164.8603973388672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18820,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.696122169494629,
                "transform": {
                    "location": {
                        "x": 419.3565979003906,
                        "y": 5098.60302734375,
                        "z": 369.2830810546875
                    },
                    "rotation": {
                        "roll": -0.006713868118822575,
                        "pitch": -0.32220733165740967,
                        "yaw": 165.41786193847656
                    }
                },
                "velocity": {
                    "x": -6.482335567474365,
                    "y": 1.6780548095703125,
                    "z": -0.03884876146912575
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18841,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.388784408569336,
                "transform": {
                    "location": {
                        "x": 423.61358642578125,
                        "y": 5104.31005859375,
                        "z": 369.30615234375
                    },
                    "rotation": {
                        "roll": 0.0003769814211409539,
                        "pitch": 0.3498832583427429,
                        "yaw": -15.14256763458252
                    }
                },
                "velocity": {
                    "x": 12.92349624633789,
                    "y": -3.498070001602173,
                    "z": 0.0792902335524559
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.010187527164816856,
        "expert_target_speed": 6.298751463140445,
        "target_point": [
            32.395504062490744,
            8.58972838914989
        ],
        "target_point_next": [
            32.395504062490744,
            8.58972838914989
        ]
    },
    "260": {
        "acceleration": [
            5.11960506439209,
            7.93731689453125,
            0.0079365074634552
        ],
        "angular_velocity": [
            -0.48613184690475464,
            -0.3730347752571106,
            -17.819684982299805
        ],
        "forward_vector": [
            0.37441807985305786,
            0.9271467328071594,
            -0.014493433758616447
        ],
        "right_vector": [
            -0.927205502986908,
            0.3741808831691742,
            -0.01669168658554554
        ],
        "location": [
            358.38214111328125,
            5123.75,
            369.04156494140625
        ],
        "rotation": [
            0.9565079808235168,
            -0.8304416537284851,
            68.00921630859375
        ],
        "velocity": [
            2.7300851345062256,
            5.579433917999268,
            -0.07950367033481598
        ],
        "speed": 6.2115575894434505,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.8488975212078973,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 45.552330017089844,
        "front_vehicle_info": {
            "id": 18847,
            "type": "vehicle.audi.tt",
            "location": [
                361.5533447265625,
                5169.1904296875,
                368.6872253417969
            ],
            "velocity": [
                4.845464331992844e-07,
                1.776196040736977e-05,
                0.0007958732894621789
            ],
            "speed_kmh": 0.002865857811045643,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 18847,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0007960716029629111,
                "transform": {
                    "location": {
                        "x": 361.5533447265625,
                        "y": 5169.1904296875,
                        "z": 368.6872253417969
                    },
                    "rotation": {
                        "roll": -3.053639375139028e-05,
                        "pitch": 0.3734883964061737,
                        "yaw": -90.31674194335938
                    }
                },
                "velocity": {
                    "x": 4.845464331992844e-07,
                    "y": 1.776196040736977e-05,
                    "z": 0.0007958732894621789
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18846,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00020771651179529727,
                "transform": {
                    "location": {
                        "x": 310.4577331542969,
                        "y": 5122.4140625,
                        "z": 369.1420593261719
                    },
                    "rotation": {
                        "roll": -0.0013427722733467817,
                        "pitch": -0.11596977710723877,
                        "yaw": -6.458714485168457
                    }
                },
                "velocity": {
                    "x": 6.402805411198642e-06,
                    "y": -4.699011697084643e-05,
                    "z": 0.00020223026513122022
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00011083810386480764,
                "transform": {
                    "location": {
                        "x": 310.8645324707031,
                        "y": 5125.63818359375,
                        "z": 369.1321716308594
                    },
                    "rotation": {
                        "roll": -0.0014648438664153218,
                        "pitch": -0.1177661120891571,
                        "yaw": -6.458715438842773
                    }
                },
                "velocity": {
                    "x": 4.32744627687498e-06,
                    "y": -3.3296726087428397e-06,
                    "z": -0.0001107035277527757
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18844,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.000284473440842703,
                "transform": {
                    "location": {
                        "x": 358.7681579589844,
                        "y": 5168.8330078125,
                        "z": 368.6963195800781
                    },
                    "rotation": {
                        "roll": -0.007904035970568657,
                        "pitch": -0.37951260805130005,
                        "yaw": 90.59996032714844
                    }
                },
                "velocity": {
                    "x": 1.3756644875684287e-05,
                    "y": 1.1510178410389926e-05,
                    "z": -0.00028390740044414997
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 18843,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0005780065548606217,
                "transform": {
                    "location": {
                        "x": 358.8507385253906,
                        "y": 5178.0146484375,
                        "z": 368.634765625
                    },
                    "rotation": {
                        "roll": -0.0007629556348547339,
                        "pitch": -0.3657497763633728,
                        "yaw": 89.73802947998047
                    }
                },
                "velocity": {
                    "x": -1.1066516890423372e-05,
                    "y": 1.6027577657951042e-05,
                    "z": 0.0005776783218607306
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18838,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 4.468510150909424,
                "transform": {
                    "location": {
                        "x": 349.6898498535156,
                        "y": 5121.87353515625,
                        "z": 369.06341552734375
                    },
                    "rotation": {
                        "roll": 0.0005282162455841899,
                        "pitch": -0.36126917600631714,
                        "yaw": -9.84669303894043
                    }
                },
                "velocity": {
                    "x": 4.4026288986206055,
                    "y": -0.7644636631011963,
                    "z": -0.00623399717733264
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 18836,
                "type": "vehicle.bh.crossbike",
                "speed_kmh": 3.3184702396392822,
                "transform": {
                    "location": {
                        "x": 379.5205383300781,
                        "y": 5117.69580078125,
                        "z": 369.123046875
                    },
                    "rotation": {
                        "roll": -0.0640563890337944,
                        "pitch": 0.1339331716299057,
                        "yaw": -11.77910041809082
                    }
                },
                "velocity": {
                    "x": 3.2454519271850586,
                    "y": -0.6922383904457092,
                    "z": 0.00967392884194851
                },
                "bounding_box_extent": {
                    "x": 0.7546613812446594,
                    "y": 0.4329703152179718,
                    "z": 0.8061768412590027
                }
            },
            {
                "id": 18848,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 1.5093462467193604,
                "transform": {
                    "location": {
                        "x": 325.95062255859375,
                        "y": 5125.9912109375,
                        "z": 369.1045227050781
                    },
                    "rotation": {
                        "roll": 0.000823688053060323,
                        "pitch": 0.05201871693134308,
                        "yaw": -9.60755729675293
                    }
                },
                "velocity": {
                    "x": 1.4875166416168213,
                    "y": -0.255764901638031,
                    "z": -0.0021172999404370785
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 18825,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 423.10308837890625,
                        "y": 5094.244140625,
                        "z": 369.3188171386719
                    },
                    "rotation": {
                        "roll": -3.3351155170890934e-09,
                        "pitch": -0.3501906096935272,
                        "yaw": 164.8603973388672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18824,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.04772663116455,
                "transform": {
                    "location": {
                        "x": 404.1259765625,
                        "y": 5099.26953125,
                        "z": 369.211669921875
                    },
                    "rotation": {
                        "roll": -0.0025634770281612873,
                        "pitch": -0.2703866958618164,
                        "yaw": 164.95362854003906
                    }
                },
                "velocity": {
                    "x": -7.77168607711792,
                    "y": 2.0893466472625732,
                    "z": -0.037731610238552094
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18840,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.371414184570312,
                "transform": {
                    "location": {
                        "x": 414.66436767578125,
                        "y": 5103.3671875,
                        "z": 369.2502746582031
                    },
                    "rotation": {
                        "roll": 0.0007707034819759429,
                        "pitch": 0.328989714384079,
                        "yaw": -15.198870658874512
                    }
                },
                "velocity": {
                    "x": 12.903076171875,
                    "y": -3.507080554962158,
                    "z": 0.07561225444078445
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18821,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 435.2254943847656,
                        "y": 5094.33056640625,
                        "z": 369.3905334472656
                    },
                    "rotation": {
                        "roll": -3.3351159611783032e-09,
                        "pitch": -0.35168641805648804,
                        "yaw": 164.8603973388672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18820,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.735942840576172,
                "transform": {
                    "location": {
                        "x": 417.7100830078125,
                        "y": 5099.02978515625,
                        "z": 369.27349853515625
                    },
                    "rotation": {
                        "roll": -0.00595092261210084,
                        "pitch": -0.3211691379547119,
                        "yaw": 165.57838439941406
                    }
                },
                "velocity": {
                    "x": -6.519718647003174,
                    "y": 1.6925716400146484,
                    "z": -0.03733760863542557
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18841,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 426.8835754394531,
                        "y": 5103.39111328125,
                        "z": 369.32672119140625
                    },
                    "rotation": {
                        "roll": 1.0005345885133465e-08,
                        "pitch": 0.350197434425354,
                        "yaw": -15.13963794708252
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.7533404231071472,
        "expert_target_speed": 7.122628759596959,
        "target_point": [
            30.040846916232894,
            11.756011842947336
        ],
        "target_point_next": [
            30.040846916232894,
            11.756011842947336
        ]
    },
    "265": {
        "acceleration": [
            4.4178056716918945,
            3.176431655883789,
            0.015650689601898193
        ],
        "angular_velocity": [
            2.046389102935791,
            -0.28566718101501465,
            -20.644426345825195
        ],
        "forward_vector": [
            0.44744086265563965,
            0.8941878080368042,
            -0.014995250850915909
        ],
        "right_vector": [
            -0.8942603468894958,
            0.4471684992313385,
            -0.01840599626302719
        ],
        "location": [
            359.165771484375,
            5125.28564453125,
            369.01275634765625
        ],
        "rotation": [
            1.0547640323638916,
            -0.8591967821121216,
            63.41716766357422
        ],
        "velocity": [
            3.675752878189087,
            6.541982650756836,
            -0.15129980444908142
        ],
        "speed": 7.5039120613396575,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.8025192540010204,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 43.97085952758789,
        "front_vehicle_info": {
            "id": 18847,
            "type": "vehicle.audi.tt",
            "location": [
                361.5533447265625,
                5169.1904296875,
                368.6872253417969
            ],
            "velocity": [
                -1.7182828742079437e-05,
                1.6253739886451513e-05,
                0.0011991540668532252
            ],
            "speed_kmh": 0.004317794301480791,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 18847,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0011993873631581664,
                "transform": {
                    "location": {
                        "x": 361.5533447265625,
                        "y": 5169.1904296875,
                        "z": 368.6872253417969
                    },
                    "rotation": {
                        "roll": -3.053639375139028e-05,
                        "pitch": 0.3734883964061737,
                        "yaw": -90.31674194335938
                    }
                },
                "velocity": {
                    "x": -1.7182828742079437e-05,
                    "y": 1.6253739886451513e-05,
                    "z": 0.0011991540668532252
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18846,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0006177949835546315,
                "transform": {
                    "location": {
                        "x": 310.4577331542969,
                        "y": 5122.4140625,
                        "z": 369.1420593261719
                    },
                    "rotation": {
                        "roll": -0.0013427722733467817,
                        "pitch": -0.11596977710723877,
                        "yaw": -6.458714485168457
                    }
                },
                "velocity": {
                    "x": 9.696576853457373e-06,
                    "y": -5.427678843261674e-05,
                    "z": 0.0006153297144919634
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0005080410628579557,
                "transform": {
                    "location": {
                        "x": 310.8645324707031,
                        "y": 5125.63818359375,
                        "z": 369.1321716308594
                    },
                    "rotation": {
                        "roll": -0.0014648438664153218,
                        "pitch": -0.1177661120891571,
                        "yaw": -6.458715438842773
                    }
                },
                "velocity": {
                    "x": 1.4358069165609777e-05,
                    "y": 1.4225630366127007e-05,
                    "z": -0.0005076388479210436
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18844,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00013179930101614445,
                "transform": {
                    "location": {
                        "x": 358.7681579589844,
                        "y": 5168.8330078125,
                        "z": 368.6963195800781
                    },
                    "rotation": {
                        "roll": -0.007904035970568657,
                        "pitch": -0.37951260805130005,
                        "yaw": 90.59996032714844
                    }
                },
                "velocity": {
                    "x": -7.76688102632761e-06,
                    "y": 1.4688745068269782e-05,
                    "z": 0.00013074773596599698
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 18843,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 358.8507385253906,
                        "y": 5178.0146484375,
                        "z": 368.634765625
                    },
                    "rotation": {
                        "roll": -0.0007629556348547339,
                        "pitch": -0.3657497763633728,
                        "yaw": 89.73802947998047
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18838,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 4.394261360168457,
                "transform": {
                    "location": {
                        "x": 350.7811279296875,
                        "y": 5121.68408203125,
                        "z": 369.0617980957031
                    },
                    "rotation": {
                        "roll": 0.0013392489636316895,
                        "pitch": -0.33890029788017273,
                        "yaw": -9.846236228942871
                    }
                },
                "velocity": {
                    "x": 4.329561233520508,
                    "y": -0.7512705326080322,
                    "z": -0.0051077366806566715
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 18836,
                "type": "vehicle.bh.crossbike",
                "speed_kmh": 3.2609524726867676,
                "transform": {
                    "location": {
                        "x": 380.32421875,
                        "y": 5117.5224609375,
                        "z": 369.1252746582031
                    },
                    "rotation": {
                        "roll": 0.013832065276801586,
                        "pitch": 0.1524224877357483,
                        "yaw": -11.903338432312012
                    }
                },
                "velocity": {
                    "x": 3.187108278274536,
                    "y": -0.6899747848510742,
                    "z": 0.009241322986781597
                },
                "bounding_box_extent": {
                    "x": 0.7546613812446594,
                    "y": 0.4329703152179718,
                    "z": 0.8061768412590027
                }
            },
            {
                "id": 18848,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 1.7040258646011353,
                "transform": {
                    "location": {
                        "x": 326.33880615234375,
                        "y": 5125.923828125,
                        "z": 369.10394287109375
                    },
                    "rotation": {
                        "roll": -0.0001220705162268132,
                        "pitch": 0.057762905955314636,
                        "yaw": -9.72395133972168
                    }
                },
                "velocity": {
                    "x": 1.6789785623550415,
                    "y": -0.29108133912086487,
                    "z": -0.0026455402839928865
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 18825,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.609313011169434,
                "transform": {
                    "location": {
                        "x": 421.2137756347656,
                        "y": 5094.75341796875,
                        "z": 369.3064880371094
                    },
                    "rotation": {
                        "roll": 0.007694590371102095,
                        "pitch": -0.18593822419643402,
                        "yaw": 164.91384887695312
                    }
                },
                "velocity": {
                    "x": -6.3894572257995605,
                    "y": 1.6902979612350464,
                    "z": -0.027302589267492294
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18824,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.058572769165039,
                "transform": {
                    "location": {
                        "x": 402.18084716796875,
                        "y": 5099.79150390625,
                        "z": 369.2026062011719
                    },
                    "rotation": {
                        "roll": -0.008972165174782276,
                        "pitch": -0.254294753074646,
                        "yaw": 164.9983673095703
                    }
                },
                "velocity": {
                    "x": -7.787400722503662,
                    "y": 2.0726027488708496,
                    "z": -0.0360863097012043
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18840,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.365053176879883,
                "transform": {
                    "location": {
                        "x": 417.8893737792969,
                        "y": 5102.4912109375,
                        "z": 369.2693786621094
                    },
                    "rotation": {
                        "roll": 0.0003303990524727851,
                        "pitch": 0.3257521986961365,
                        "yaw": -15.153888702392578
                    }
                },
                "velocity": {
                    "x": 12.899088859558105,
                    "y": -3.4974849224090576,
                    "z": 0.07572845369577408
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18821,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 433.6698303222656,
                        "y": 5094.7509765625,
                        "z": 369.3804626464844
                    },
                    "rotation": {
                        "roll": -3.3351159611783032e-09,
                        "pitch": -0.35168641805648804,
                        "yaw": 164.8603973388672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18820,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.313288688659668,
                "transform": {
                    "location": {
                        "x": 416.1641845703125,
                        "y": 5099.43212890625,
                        "z": 369.2647705078125
                    },
                    "rotation": {
                        "roll": -0.0019531268626451492,
                        "pitch": -0.33346349000930786,
                        "yaw": 165.46192932128906
                    }
                },
                "velocity": {
                    "x": -6.106614112854004,
                    "y": 1.6017202138900757,
                    "z": -0.03707670420408249
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18841,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 430.2171630859375,
                        "y": 5102.4208984375,
                        "z": 369.34771728515625
                    },
                    "rotation": {
                        "roll": 1.0005345885133465e-08,
                        "pitch": 0.350197434425354,
                        "yaw": -15.13963794708252
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9986960291862488,
        "expert_target_speed": 8.177615783865638,
        "target_point": [
            27.279243203699796,
            14.136972148423547
        ],
        "target_point_next": [
            27.279243203699796,
            14.136972148423547
        ]
    },
    "270": {
        "acceleration": [
            -0.6527137756347656,
            0.5416011810302734,
            0.037011802196502686
        ],
        "angular_velocity": [
            2.989760160446167,
            1.6129040718078613,
            -3.275895118713379
        ],
        "forward_vector": [
            0.5023727416992188,
            0.864646315574646,
            -0.0028792577795684338
        ],
        "right_vector": [
            -0.8645712733268738,
            0.502278208732605,
            -0.015271448530256748
        ],
        "location": [
            360.18096923828125,
            5127.03466796875,
            368.9809265136719
        ],
        "rotation": [
            0.8750271797180176,
            -0.1649695485830307,
            59.84275436401367
        ],
        "velocity": [
            4.266254425048828,
            7.191707611083984,
            -0.10386620461940765
        ],
        "speed": 8.361912770567033,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.7657721755378057,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 42.17911911010742,
        "front_vehicle_info": {
            "id": 18847,
            "type": "vehicle.audi.tt",
            "location": [
                361.5533447265625,
                5169.1904296875,
                368.6872253417969
            ],
            "velocity": [
                6.0127956658107e-07,
                2.1254420062177815e-05,
                0.001160830375738442
            ],
            "speed_kmh": 0.004179690344986897,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 18847,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0011610251385718584,
                "transform": {
                    "location": {
                        "x": 361.5533447265625,
                        "y": 5169.1904296875,
                        "z": 368.6872253417969
                    },
                    "rotation": {
                        "roll": -3.053639375139028e-05,
                        "pitch": 0.3734883964061737,
                        "yaw": -90.31674194335938
                    }
                },
                "velocity": {
                    "x": 6.0127956658107e-07,
                    "y": 2.1254420062177815e-05,
                    "z": 0.001160830375738442
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18846,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 310.4577331542969,
                        "y": 5122.4140625,
                        "z": 369.1420593261719
                    },
                    "rotation": {
                        "roll": -0.001983642578125,
                        "pitch": -0.11642056703567505,
                        "yaw": -6.458745002746582
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00037137529579922557,
                "transform": {
                    "location": {
                        "x": 310.8645324707031,
                        "y": 5125.63818359375,
                        "z": 369.1321716308594
                    },
                    "rotation": {
                        "roll": -0.0008544920710846782,
                        "pitch": -0.11822373420000076,
                        "yaw": -6.458745002746582
                    }
                },
                "velocity": {
                    "x": -2.5192462089762557e-06,
                    "y": -1.7498083479949855e-06,
                    "z": -0.0003713626356329769
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18844,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00011745100346161053,
                "transform": {
                    "location": {
                        "x": 358.7681579589844,
                        "y": 5168.8330078125,
                        "z": 368.6963195800781
                    },
                    "rotation": {
                        "roll": -0.007904035970568657,
                        "pitch": -0.37951260805130005,
                        "yaw": 90.59996032714844
                    }
                },
                "velocity": {
                    "x": 1.0459139048180077e-05,
                    "y": 1.130513828684343e-05,
                    "z": -0.00011643684410955757
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 18843,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0004967246786691248,
                "transform": {
                    "location": {
                        "x": 358.8507385253906,
                        "y": 5178.0146484375,
                        "z": 368.634765625
                    },
                    "rotation": {
                        "roll": -0.0007629556348547339,
                        "pitch": -0.3657497763633728,
                        "yaw": 89.73802947998047
                    }
                },
                "velocity": {
                    "x": -2.6043869638670003e-06,
                    "y": 1.7595364624867216e-05,
                    "z": 0.0004964061081409454
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18838,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 4.425427436828613,
                "transform": {
                    "location": {
                        "x": 351.8556823730469,
                        "y": 5121.49755859375,
                        "z": 369.06005859375
                    },
                    "rotation": {
                        "roll": 5.459946987684816e-05,
                        "pitch": -0.3978516757488251,
                        "yaw": -9.846388816833496
                    }
                },
                "velocity": {
                    "x": 4.360231399536133,
                    "y": -0.756809651851654,
                    "z": -0.0054084681905806065
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 18836,
                "type": "vehicle.bh.crossbike",
                "speed_kmh": 3.3080894947052,
                "transform": {
                    "location": {
                        "x": 381.1274108886719,
                        "y": 5117.34814453125,
                        "z": 369.12744140625
                    },
                    "rotation": {
                        "roll": -0.067230224609375,
                        "pitch": 0.13722532987594604,
                        "yaw": -11.999621391296387
                    }
                },
                "velocity": {
                    "x": 3.231431245803833,
                    "y": -0.707964301109314,
                    "z": 0.009774637408554554
                },
                "bounding_box_extent": {
                    "x": 0.7546613812446594,
                    "y": 0.4329703152179718,
                    "z": 0.8061768412590027
                }
            },
            {
                "id": 18848,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 1.9368788003921509,
                "transform": {
                    "location": {
                        "x": 326.7928771972656,
                        "y": 5125.8447265625,
                        "z": 369.1031799316406
                    },
                    "rotation": {
                        "roll": 0.001999747008085251,
                        "pitch": 0.02317482978105545,
                        "yaw": -9.786421775817871
                    }
                },
                "velocity": {
                    "x": 1.9084336757659912,
                    "y": -0.330716997385025,
                    "z": -0.0026006698608398438
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 18825,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.679738521575928,
                "transform": {
                    "location": {
                        "x": 419.6076965332031,
                        "y": 5095.17431640625,
                        "z": 369.29986572265625
                    },
                    "rotation": {
                        "roll": 0.006085466127842665,
                        "pitch": -0.29004397988319397,
                        "yaw": 165.25132751464844
                    }
                },
                "velocity": {
                    "x": -6.467024326324463,
                    "y": 1.6719378232955933,
                    "z": -0.03356730565428734
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18824,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.047120094299316,
                "transform": {
                    "location": {
                        "x": 400.2342224121094,
                        "y": 5100.30517578125,
                        "z": 369.19378662109375
                    },
                    "rotation": {
                        "roll": -0.01202392764389515,
                        "pitch": -0.23497898876667023,
                        "yaw": 165.2423095703125
                    }
                },
                "velocity": {
                    "x": -7.78311824798584,
                    "y": 2.044046640396118,
                    "z": -0.03301224112510681
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18840,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.370307922363281,
                "transform": {
                    "location": {
                        "x": 421.1149597167969,
                        "y": 5101.6171875,
                        "z": 369.28839111328125
                    },
                    "rotation": {
                        "roll": -0.00021362364350352436,
                        "pitch": 0.3274187743663788,
                        "yaw": -15.12895679473877
                    }
                },
                "velocity": {
                    "x": 12.90554141998291,
                    "y": -3.4937245845794678,
                    "z": 0.0776507705450058
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18821,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 431.94195556640625,
                        "y": 5095.21923828125,
                        "z": 369.3693542480469
                    },
                    "rotation": {
                        "roll": -3.3351155170890934e-09,
                        "pitch": -0.3501906096935272,
                        "yaw": 164.8603973388672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18820,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.0862603187561035,
                "transform": {
                    "location": {
                        "x": 414.5545654296875,
                        "y": 5099.8544921875,
                        "z": 369.2550354003906
                    },
                    "rotation": {
                        "roll": -0.0011596643598750234,
                        "pitch": -0.30474936962127686,
                        "yaw": 165.29212951660156
                    }
                },
                "velocity": {
                    "x": -6.851776599884033,
                    "y": 1.8074053525924683,
                    "z": -0.039113644510507584
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18841,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 433.5683898925781,
                        "y": 5101.5126953125,
                        "z": 369.3689270019531
                    },
                    "rotation": {
                        "roll": 3.3351159611783032e-09,
                        "pitch": 0.35164543986320496,
                        "yaw": -15.139636039733887
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9998907446861267,
        "expert_target_speed": 8.814690936885736,
        "target_point": [
            24.322513129864568,
            15.809304756842847
        ],
        "target_point_next": [
            24.322513129864568,
            15.809304756842847
        ]
    },
    "275": {
        "acceleration": [
            -3.378448486328125,
            6.364345550537109,
            0.06158754229545593
        ],
        "angular_velocity": [
            2.4630422592163086,
            4.818542003631592,
            26.84125328063965
        ],
        "forward_vector": [
            0.4567021131515503,
            0.8896068334579468,
            0.004784923512488604
        ],
        "right_vector": [
            -0.8896018862724304,
            0.45665228366851807,
            0.008785555139183998
        ],
        "location": [
            361.24700927734375,
            5129.0498046875,
            368.95941162109375
        ],
        "rotation": [
            -0.503387451171875,
            0.27415695786476135,
            62.82516098022461
        ],
        "velocity": [
            4.075588226318359,
            8.922952651977539,
            -0.056097228080034256
        ],
        "speed": 9.809663777109684,
        "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": 40.14271545410156,
        "front_vehicle_info": {
            "id": 18847,
            "type": "vehicle.audi.tt",
            "location": [
                361.5533447265625,
                5169.1904296875,
                368.6872253417969
            ],
            "velocity": [
                9.740113455336541e-06,
                1.6289650375256315e-05,
                0.0014183303574100137
            ],
            "speed_kmh": 0.005106446423835556,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 18847,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0014184573665261269,
                "transform": {
                    "location": {
                        "x": 361.5533447265625,
                        "y": 5169.1904296875,
                        "z": 368.6872253417969
                    },
                    "rotation": {
                        "roll": -3.053639375139028e-05,
                        "pitch": 0.3734883964061737,
                        "yaw": -90.31674194335938
                    }
                },
                "velocity": {
                    "x": 9.740113455336541e-06,
                    "y": 1.6289650375256315e-05,
                    "z": 0.0014183303574100137
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18846,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0013691443018615246,
                "transform": {
                    "location": {
                        "x": 310.4577331542969,
                        "y": 5122.4140625,
                        "z": 369.1420593261719
                    },
                    "rotation": {
                        "roll": -0.00067138671875,
                        "pitch": -0.11612004041671753,
                        "yaw": -6.458745002746582
                    }
                },
                "velocity": {
                    "x": 3.445930815360043e-06,
                    "y": -9.915933333104476e-06,
                    "z": 0.0013691040221601725
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.813434007810429e-05,
                "transform": {
                    "location": {
                        "x": 310.8645324707031,
                        "y": 5125.63818359375,
                        "z": 369.1321716308594
                    },
                    "rotation": {
                        "roll": -0.0008544920710846782,
                        "pitch": -0.11822373420000076,
                        "yaw": -6.458745002746582
                    }
                },
                "velocity": {
                    "x": 1.7405114931534627e-06,
                    "y": 4.349650680524064e-06,
                    "z": 9.802244312595576e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18844,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00018067448399960995,
                "transform": {
                    "location": {
                        "x": 358.76812744140625,
                        "y": 5168.8330078125,
                        "z": 368.6963195800781
                    },
                    "rotation": {
                        "roll": -0.00805666483938694,
                        "pitch": -0.37951260805130005,
                        "yaw": 90.59996032714844
                    }
                },
                "velocity": {
                    "x": 1.1045352039218415e-05,
                    "y": 9.309500455856323e-06,
                    "z": -0.00018009608902502805
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 18843,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.39365753531455994,
                "transform": {
                    "location": {
                        "x": 358.8507080078125,
                        "y": 5178.02587890625,
                        "z": 368.6346130371094
                    },
                    "rotation": {
                        "roll": -0.0011597007978707552,
                        "pitch": -0.3594045341014862,
                        "yaw": 89.741455078125
                    }
                },
                "velocity": {
                    "x": -0.0034477817825973034,
                    "y": 0.39363211393356323,
                    "z": -0.0028520964551717043
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18838,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 4.62364387512207,
                "transform": {
                    "location": {
                        "x": 352.9718017578125,
                        "y": 5121.3037109375,
                        "z": 369.0582275390625
                    },
                    "rotation": {
                        "roll": 0.0011591814691200852,
                        "pitch": -0.4980778694152832,
                        "yaw": -9.84547233581543
                    }
                },
                "velocity": {
                    "x": 4.5555830001831055,
                    "y": -0.7903889417648315,
                    "z": -0.005734624806791544
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 18836,
                "type": "vehicle.bh.crossbike",
                "speed_kmh": 3.252332925796509,
                "transform": {
                    "location": {
                        "x": 381.9281921386719,
                        "y": 5117.171875,
                        "z": 369.1296081542969
                    },
                    "rotation": {
                        "roll": -0.01425170712172985,
                        "pitch": 0.1473408341407776,
                        "yaw": -12.110523223876953
                    }
                },
                "velocity": {
                    "x": 3.1759347915649414,
                    "y": -0.700724184513092,
                    "z": 0.009634875692427158
                },
                "bounding_box_extent": {
                    "x": 0.7546613812446594,
                    "y": 0.4329703152179718,
                    "z": 0.8061768412590027
                }
            },
            {
                "id": 18848,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 2.030705690383911,
                "transform": {
                    "location": {
                        "x": 327.28851318359375,
                        "y": 5125.7587890625,
                        "z": 369.1025390625
                    },
                    "rotation": {
                        "roll": 0.004810750484466553,
                        "pitch": 0.08655215054750443,
                        "yaw": -9.817547798156738
                    }
                },
                "velocity": {
                    "x": 2.0008270740509033,
                    "y": -0.3470640182495117,
                    "z": -0.0017721366602927446
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 18825,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.598681926727295,
                "transform": {
                    "location": {
                        "x": 418.00152587890625,
                        "y": 5095.59033203125,
                        "z": 369.2908935546875
                    },
                    "rotation": {
                        "roll": 0.0007631349726580083,
                        "pitch": -0.31405889987945557,
                        "yaw": 165.42933654785156
                    }
                },
                "velocity": {
                    "x": -6.38945198059082,
                    "y": 1.648075819015503,
                    "z": -0.03682266175746918
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 18824,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.059199333190918,
                "transform": {
                    "location": {
                        "x": 398.2863464355469,
                        "y": 5100.81494140625,
                        "z": 369.1858825683594
                    },
                    "rotation": {
                        "roll": -0.0069274879060685635,
                        "pitch": -0.22241143882274628,
                        "yaw": 165.34385681152344
                    }
                },
                "velocity": {
                    "x": -7.79739236831665,
                    "y": 2.037236213684082,
                    "z": -0.03208957239985466
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18840,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.364208221435547,
                "transform": {
                    "location": {
                        "x": 424.3409423828125,
                        "y": 5100.74462890625,
                        "z": 369.3082275390625
                    },
                    "rotation": {
                        "roll": 0.00036935420939698815,
                        "pitch": 0.3550127148628235,
                        "yaw": -15.12089729309082
                    }
                },
                "velocity": {
                    "x": 12.900618553161621,
                    "y": -3.4884746074676514,
                    "z": 0.08148346096277237
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18821,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 430.1517028808594,
                        "y": 5095.703125,
                        "z": 369.3580322265625
                    },
                    "rotation": {
                        "roll": -3.3351155170890934e-09,
                        "pitch": -0.3501906096935272,
                        "yaw": 164.8603973388672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 18820,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.663853645324707,
                "transform": {
                    "location": {
                        "x": 412.74407958984375,
                        "y": 5100.33154296875,
                        "z": 369.24456787109375
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": -0.3008083403110504,
                        "yaw": 165.1738739013672
                    }
                },
                "velocity": {
                    "x": -7.407334804534912,
                    "y": 1.9657998085021973,
                    "z": -0.04093603044748306
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.32295092940330505,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9990056753158569,
        "expert_target_speed": 9.774827978874512,
        "target_point": [
            22.832544149911914,
            14.550455771068206
        ],
        "target_point_next": [
            22.832544149911914,
            14.550455771068206
        ]
    },
    "280": {
        "acceleration": [
            -6.6236066818237305,
            0.4792213439941406,
            1.8740230798721313
        ],
        "angular_velocity": [
            4.670805931091309,
            14.024832725524902,
            42.758853912353516
        ],
        "forward_vector": [
            0.3009627163410187,
            0.9535046219825745,
            0.015821393579244614
        ],
        "right_vector": [
            -0.9535490274429321,
            0.30111780762672424,
            -0.008502072654664516
        ],
        "location": [
            362.12030029296875,
            5131.41015625,
            368.9649658203125
        ],
        "rotation": [
            0.48719972372055054,
            0.9065368175506592,
            72.4822998046875
        ],
        "velocity": [
            2.5471255779266357,
            9.813475608825684,
            0.028253640979528427
        ],
        "speed": 10.138646469561147,
        "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": 24.58957862854004,
        "front_vehicle_info": {
            "id": 18849,
            "type": "vehicle.chevrolet.impala",
            "location": [
                361.4803771972656,
                5155.9912109375,
                368.8667907714844
            ],
            "velocity": [
                -2.542332490362842e-11,
                -4.599851166631197e-09,
                -2.450000286102295
            ],
            "speed_kmh": 8.820001029968262,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 18847,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0015667331172153354,
                "transform": {
                    "location": {
                        "x": 361.5533447265625,
                        "y": 5169.1904296875,
                        "z": 368.6872253417969
                    },
                    "rotation": {
                        "roll": -3.053639375139028e-05,
                        "pitch": 0.3734883964061737,
                        "yaw": -90.31674194335938
                    }
                },
                "velocity": {
                    "x": 7.69927919463953e-06,
                    "y": 2.3900120140751824e-05,
                    "z": 0.0015665319515392184
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18849,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.450000286102295,
                "transform": {
                    "location": {
                        "x": 361.4803771972656,
                        "y": 5155.9912109375,
                        "z": 368.8667907714844
                    },
                    "rotation": {
                        "roll": 2.6681023612695753e-08,
                        "pitch": 0.38296186923980713,
                        "yaw": -90.31666564941406
                    }
                },
                "velocity": {
                    "x": -2.542332490362842e-11,
                    "y": -4.599851166631197e-09,
                    "z": -2.450000286102295
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18844,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00018350947357248515,
                "transform": {
                    "location": {
                        "x": 358.7681579589844,
                        "y": 5168.8330078125,
                        "z": 368.6963195800781
                    },
                    "rotation": {
                        "roll": -0.007476806174963713,
                        "pitch": -0.3796355426311493,
                        "yaw": 90.59996032714844
                    }
                },
                "velocity": {
                    "x": -6.174452573759481e-05,
                    "y": 3.1820462027098984e-05,
                    "z": -0.00016985522233881056
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 18843,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.3331692218780518,
                "transform": {
                    "location": {
                        "x": 358.8490905761719,
                        "y": 5178.265625,
                        "z": 368.6328430175781
                    },
                    "rotation": {
                        "roll": -0.0026245047338306904,
                        "pitch": -0.3353281319141388,
                        "yaw": 89.81183624267578
                    }
                },
                "velocity": {
                    "x": -0.012472882866859436,
                    "y": 1.3330906629562378,
                    "z": -0.007334165275096893
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18840,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 427.6248779296875,
                        "y": 5099.79052734375,
                        "z": 369.3338928222656
                    },
                    "rotation": {
                        "roll": 1.0005345885133465e-08,
                        "pitch": 0.350197434425354,
                        "yaw": -15.13963794708252
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.3302956223487854,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9990035891532898,
        "expert_target_speed": 9.958484180593256,
        "target_point": [
            22.436110136726683,
            10.636380582946298
        ],
        "target_point_next": [
            22.436110136726683,
            10.636380582946298
        ]
    },
    "285": {
        "acceleration": [
            -8.330987930297852,
            1.2941932678222656,
            -0.18846966326236725
        ],
        "angular_velocity": [
            0.5078356266021729,
            -0.1650194674730301,
            46.124267578125
        ],
        "forward_vector": [
            0.10648871958255768,
            0.9941364526748657,
            0.01878318004310131
        ],
        "right_vector": [
            -0.9943063855171204,
            0.106542207300663,
            -0.0018676472827792168
        ],
        "location": [
            362.53717041015625,
            5133.93212890625,
            368.96185302734375
        ],
        "rotation": [
            0.10702724754810333,
            1.0762602090835571,
            83.88597106933594
        ],
        "velocity": [
            0.5358710885047913,
            10.308310508728027,
            -0.03688326105475426
        ],
        "speed": 10.322229573490796,
        "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": 22.085193634033203,
        "front_vehicle_info": {
            "id": 18849,
            "type": "vehicle.chevrolet.impala",
            "location": [
                361.4803771972656,
                5155.99072265625,
                368.7222595214844
            ],
            "velocity": [
                1.9288390831206925e-05,
                0.0015720832161605358,
                0.23438124358654022
            ],
            "speed_kmh": 0.8437914597521021,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 18847,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 361.5533447265625,
                        "y": 5169.1904296875,
                        "z": 368.6872253417969
                    },
                    "rotation": {
                        "roll": -3.053639375139028e-05,
                        "pitch": 0.3734883964061737,
                        "yaw": -90.31674194335938
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18849,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.23438651859760284,
                "transform": {
                    "location": {
                        "x": 361.4803771972656,
                        "y": 5155.99072265625,
                        "z": 368.7222595214844
                    },
                    "rotation": {
                        "roll": -0.000274641060968861,
                        "pitch": 0.381991982460022,
                        "yaw": -90.3166732788086
                    }
                },
                "velocity": {
                    "x": 1.9288390831206925e-05,
                    "y": 0.0015720832161605358,
                    "z": 0.23438124358654022
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18844,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0007430516998283565,
                "transform": {
                    "location": {
                        "x": 358.7681579589844,
                        "y": 5168.8330078125,
                        "z": 368.6963195800781
                    },
                    "rotation": {
                        "roll": -0.007476806174963713,
                        "pitch": -0.3796355426311493,
                        "yaw": 90.59996032714844
                    }
                },
                "velocity": {
                    "x": 3.742226226677303e-06,
                    "y": 2.065882108581718e-05,
                    "z": -0.0007427550735883415
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 18843,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.8685747385025024,
                "transform": {
                    "location": {
                        "x": 358.84619140625,
                        "y": 5178.66845703125,
                        "z": 368.6303405761719
                    },
                    "rotation": {
                        "roll": -0.0020141545683145523,
                        "pitch": -0.34216514229774475,
                        "yaw": 89.90866088867188
                    }
                },
                "velocity": {
                    "x": -0.018397299572825432,
                    "y": 1.8684543371200562,
                    "z": -0.010547732934355736
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18840,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 430.96893310546875,
                        "y": 5098.857421875,
                        "z": 369.357177734375
                    },
                    "rotation": {
                        "roll": 3.3351159611783032e-09,
                        "pitch": 0.35164543986320496,
                        "yaw": -15.139636039733887
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9991335868835449,
        "expert_target_speed": 10.0,
        "target_point": [
            21.544188757968744,
            6.136216780351845
        ],
        "target_point_next": [
            21.544188757968744,
            6.136216780351845
        ]
    },
    "290": {
        "acceleration": [
            -5.9963178634643555,
            -1.001434326171875,
            -2.91390323638916
        ],
        "angular_velocity": [
            -6.499186038970947,
            8.039084434509277,
            45.05933380126953
        ],
        "forward_vector": [
            -0.09962473064661026,
            0.9950132369995117,
            -0.004860262386500835
        ],
        "right_vector": [
            -0.9945912957191467,
            -0.09972432255744934,
            -0.02903801202774048
        ],
        "location": [
            362.4585876464844,
            5136.50146484375,
            368.97796630859375
        ],
        "rotation": [
            1.6640090942382812,
            -0.2784736156463623,
            95.7176284790039
        ],
        "velocity": [
            -1.4811878204345703,
            10.276562690734863,
            -0.13537131249904633
        ],
        "speed": 10.3827577307769,
        "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": 19.515378952026367,
        "front_vehicle_info": {
            "id": 18849,
            "type": "vehicle.chevrolet.impala",
            "location": [
                361.4803771972656,
                5155.9912109375,
                368.7707214355469
            ],
            "velocity": [
                0.00010778255818877369,
                0.0006565744988620281,
                0.09626879543066025
            ],
            "speed_kmh": 0.3465759410337977,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 18847,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.140163540840149,
                "transform": {
                    "location": {
                        "x": 361.5556640625,
                        "y": 5169.009765625,
                        "z": 368.6883239746094
                    },
                    "rotation": {
                        "roll": -0.003601090284064412,
                        "pitch": 0.426941454410553,
                        "yaw": -90.27167510986328
                    }
                },
                "velocity": {
                    "x": 0.021634062752127647,
                    "y": -1.1399221420288086,
                    "z": 0.009071597829461098
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18849,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0962710976600647,
                "transform": {
                    "location": {
                        "x": 361.4803771972656,
                        "y": 5155.9912109375,
                        "z": 368.7707214355469
                    },
                    "rotation": {
                        "roll": 1.3273805961944163e-05,
                        "pitch": 0.3820602595806122,
                        "yaw": -90.3166732788086
                    }
                },
                "velocity": {
                    "x": 0.00010778255818877369,
                    "y": 0.0006565744988620281,
                    "z": 0.09626879543066025
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18844,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.916620183503255e-05,
                "transform": {
                    "location": {
                        "x": 358.7681579589844,
                        "y": 5168.8330078125,
                        "z": 368.6963195800781
                    },
                    "rotation": {
                        "roll": -0.007476806174963713,
                        "pitch": -0.3796355426311493,
                        "yaw": 90.59996032714844
                    }
                },
                "velocity": {
                    "x": 1.4384276880718971e-08,
                    "y": 1.25213709907257e-05,
                    "z": -9.837251127464697e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 18843,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.4097936153411865,
                "transform": {
                    "location": {
                        "x": 358.8426513671875,
                        "y": 5179.2041015625,
                        "z": 368.6269836425781
                    },
                    "rotation": {
                        "roll": -0.0020141417626291513,
                        "pitch": -0.3451840877532959,
                        "yaw": 90.07591247558594
                    }
                },
                "velocity": {
                    "x": -0.011356769129633904,
                    "y": 2.4097237586975098,
                    "z": -0.014428730122745037
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9993504881858826,
        "expert_target_speed": 10.0,
        "target_point": [
            19.78023537678251,
            1.766269770641194
        ],
        "target_point_next": [
            19.78023537678251,
            1.766269770641194
        ]
    },
    "295": {
        "acceleration": [
            -7.811641693115234,
            -3.1906700134277344,
            2.1911919116973877
        ],
        "angular_velocity": [
            1.1794975996017456,
            12.823392868041992,
            43.64128875732422
        ],
        "forward_vector": [
            -0.30373692512512207,
            0.9527301788330078,
            -0.007003011181950569
        ],
        "right_vector": [
            -0.9525409936904907,
            -0.3035041391849518,
            0.0234671737998724
        ],
        "location": [
            361.8408508300781,
            5139.013671875,
            368.9248046875
        ],
        "rotation": [
            -1.3447264432907104,
            -0.4012462794780731,
            107.6826400756836
        ],
        "velocity": [
            -3.409498929977417,
            9.726125717163086,
            -0.2869173586368561
        ],
        "speed": 10.306415692158856,
        "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": 16.863359451293945,
        "front_vehicle_info": {
            "id": 18849,
            "type": "vehicle.chevrolet.impala",
            "location": [
                361.48077392578125,
                5155.87255859375,
                368.77935791015625
            ],
            "velocity": [
                0.008328613825142384,
                -1.1162936687469482,
                0.00880212802439928
            ],
            "speed_kmh": 4.018893982183511,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 18847,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.0208321809768677,
                "transform": {
                    "location": {
                        "x": 361.5569763183594,
                        "y": 5168.7412109375,
                        "z": 368.6903076171875
                    },
                    "rotation": {
                        "roll": 0.0009176007006317377,
                        "pitch": 0.3863564729690552,
                        "yaw": -90.1953125
                    }
                },
                "velocity": {
                    "x": 0.004090865608304739,
                    "y": -1.020804762840271,
                    "z": 0.0062694549560546875
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18849,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.1163594722747803,
                "transform": {
                    "location": {
                        "x": 361.48077392578125,
                        "y": 5155.87255859375,
                        "z": 368.77935791015625
                    },
                    "rotation": {
                        "roll": -0.0014953567879274487,
                        "pitch": 0.41406652331352234,
                        "yaw": -90.2712631225586
                    }
                },
                "velocity": {
                    "x": 0.008328613825142384,
                    "y": -1.1162936687469482,
                    "z": 0.00880212802439928
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18844,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0006234335596673191,
                "transform": {
                    "location": {
                        "x": 358.7681579589844,
                        "y": 5168.8330078125,
                        "z": 368.6963195800781
                    },
                    "rotation": {
                        "roll": -0.007476806174963713,
                        "pitch": -0.3796355426311493,
                        "yaw": 90.59996032714844
                    }
                },
                "velocity": {
                    "x": 2.223701449111104e-05,
                    "y": 8.318274922203273e-06,
                    "z": -0.0006229813443496823
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 18843,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.966801643371582,
                "transform": {
                    "location": {
                        "x": 358.8409423828125,
                        "y": 5179.87841796875,
                        "z": 368.6227722167969
                    },
                    "rotation": {
                        "roll": -0.0021056970581412315,
                        "pitch": -0.3435106873512268,
                        "yaw": 90.11360168457031
                    }
                },
                "velocity": {
                    "x": -0.008667455054819584,
                    "y": 2.966729164123535,
                    "z": -0.01882263645529747
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.8450670838356018,
        "expert_target_speed": 9.97013992276619,
        "target_point": [
            17.135523291841324,
            -2.198303477474024
        ],
        "target_point_next": [
            17.135523291841324,
            -2.198303477474024
        ]
    },
    "300": {
        "acceleration": [
            -4.206857681274414,
            -3.467559814453125,
            0.302591472864151
        ],
        "angular_velocity": [
            -0.7291479706764221,
            0.08002863079309464,
            30.303918838500977
        ],
        "forward_vector": [
            -0.4479597210884094,
            0.8940425515174866,
            -0.004474147688597441
        ],
        "right_vector": [
            -0.8934507369995117,
            -0.44746825098991394,
            0.03896084055304527
        ],
        "location": [
            360.810546875,
            5141.35302734375,
            368.8848876953125
        ],
        "rotation": [
            -2.232879400253296,
            -0.25635063648223877,
            116.61315155029297
        ],
        "velocity": [
            -4.842529296875,
            8.961613655090332,
            -0.09594158828258514
        ],
        "speed": 10.186295170187941,
        "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": 14.17352294921875,
        "front_vehicle_info": {
            "id": 18849,
            "type": "vehicle.chevrolet.impala",
            "location": [
                361.4820556640625,
                5155.51025390625,
                368.78118896484375
            ],
            "velocity": [
                0.013507524505257607,
                -1.7337695360183716,
                0.008292960934340954
            ],
            "speed_kmh": 6.241831147553018,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 18847,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.653787612915039,
                "transform": {
                    "location": {
                        "x": 361.56280517578125,
                        "y": 5168.248046875,
                        "z": 368.6929626464844
                    },
                    "rotation": {
                        "roll": -0.0013732578372582793,
                        "pitch": 0.4535040557384491,
                        "yaw": -90.44573211669922
                    }
                },
                "velocity": {
                    "x": 0.009235373698174953,
                    "y": -2.653717517852783,
                    "z": 0.01690923608839512
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18849,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.7338420152664185,
                "transform": {
                    "location": {
                        "x": 361.4820556640625,
                        "y": 5155.51025390625,
                        "z": 368.78118896484375
                    },
                    "rotation": {
                        "roll": -0.00030519181746058166,
                        "pitch": 0.40949714183807373,
                        "yaw": -90.1168441772461
                    }
                },
                "velocity": {
                    "x": 0.013507524505257607,
                    "y": -1.7337695360183716,
                    "z": 0.008292960934340954
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18844,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0006796841626055539,
                "transform": {
                    "location": {
                        "x": 358.7681579589844,
                        "y": 5168.8330078125,
                        "z": 368.6963195800781
                    },
                    "rotation": {
                        "roll": -0.007476806174963713,
                        "pitch": -0.3796355426311493,
                        "yaw": 90.59996032714844
                    }
                },
                "velocity": {
                    "x": -7.584566628793254e-05,
                    "y": 1.0331347766623367e-05,
                    "z": -0.0006753600900992751
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 18843,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.6472067832946777,
                "transform": {
                    "location": {
                        "x": 358.8387451171875,
                        "y": 5180.705078125,
                        "z": 368.6174621582031
                    },
                    "rotation": {
                        "roll": -0.0032959042582660913,
                        "pitch": -0.33947405219078064,
                        "yaw": 90.13585662841797
                    }
                },
                "velocity": {
                    "x": -0.010515623725950718,
                    "y": 3.647122383117676,
                    "z": -0.02248385362327099
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.11717461049556732,
        "expert_target_speed": 9.851261773428787,
        "target_point": [
            14.033493486301898,
            -4.704912589693935
        ],
        "target_point_next": [
            14.033493486301898,
            -4.704912589693935
        ]
    },
    "305": {
        "acceleration": [
            -0.4993629455566406,
            0.030422210693359375,
            0.056820958852767944
        ],
        "angular_velocity": [
            2.054417371749878,
            -3.4500458240509033,
            7.8005852699279785
        ],
        "forward_vector": [
            -0.5223240256309509,
            0.8527255654335022,
            -0.006072483491152525
        ],
        "right_vector": [
            -0.8525010347366333,
            -0.5219889283180237,
            0.02774074859917164
        ],
        "location": [
            359.53839111328125,
            5143.5478515625,
            368.8662414550781
        ],
        "rotation": [
            -1.5896610021591187,
            -0.34792980551719666,
            121.48892211914062
        ],
        "velocity": [
            -5.297255516052246,
            8.607091903686523,
            -0.06386664509773254
        ],
        "speed": 10.106579393684692,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 25.400959014892578,
        "front_vehicle_info": {
            "id": 18844,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                358.7672424316406,
                5168.9365234375,
                368.69464111328125
            ],
            "velocity": [
                -0.007393526844680309,
                1.0599496364593506,
                -0.006697912234812975
            ],
            "speed_kmh": 3.8159877024104416,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 18847,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.8910751342773438,
                "transform": {
                    "location": {
                        "x": 361.56268310546875,
                        "y": 5167.4482421875,
                        "z": 368.6981201171875
                    },
                    "rotation": {
                        "roll": 3.244442632421851e-05,
                        "pitch": 0.45676204562187195,
                        "yaw": -90.11190795898438
                    }
                },
                "velocity": {
                    "x": 0.013532381504774094,
                    "y": -3.8909707069396973,
                    "z": 0.02509310655295849
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18849,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.3279826641082764,
                "transform": {
                    "location": {
                        "x": 361.48583984375,
                        "y": 5154.998046875,
                        "z": 368.7843933105469
                    },
                    "rotation": {
                        "roll": 0.0014296792214736342,
                        "pitch": 0.40277624130249023,
                        "yaw": -90.07766723632812
                    }
                },
                "velocity": {
                    "x": 0.01914769969880581,
                    "y": -2.327857732772827,
                    "z": 0.014649610035121441
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18844,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.0599966049194336,
                "transform": {
                    "location": {
                        "x": 358.7672424316406,
                        "y": 5168.9365234375,
                        "z": 368.69464111328125
                    },
                    "rotation": {
                        "roll": -0.004791254177689552,
                        "pitch": -0.11655034124851227,
                        "yaw": 90.58135223388672
                    }
                },
                "velocity": {
                    "x": -0.007393526844680309,
                    "y": 1.0599496364593506,
                    "z": -0.006697912234812975
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 18843,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.525952339172363,
                "transform": {
                    "location": {
                        "x": 358.8359680175781,
                        "y": 5181.7265625,
                        "z": 368.6109619140625
                    },
                    "rotation": {
                        "roll": -0.0027465694583952427,
                        "pitch": -0.33337467908859253,
                        "yaw": 90.1513442993164
                    }
                },
                "velocity": {
                    "x": -0.013210403732955456,
                    "y": 4.525847911834717,
                    "z": -0.027804173529148102
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.7899690866470337,
        "expert_target_speed": 9.777996950199283,
        "target_point": [
            11.046711415631579,
            -5.819051840006782
        ],
        "target_point_next": [
            11.046711415631579,
            -5.819051840006782
        ]
    },
    "310": {
        "acceleration": [
            5.834169387817383,
            -4.524717330932617,
            0.02928011119365692
        ],
        "angular_velocity": [
            0.39321771264076233,
            -4.458649158477783,
            -17.54073143005371
        ],
        "forward_vector": [
            -0.4904107451438904,
            0.8714165687561035,
            -0.011427391320466995
        ],
        "right_vector": [
            -0.8714888691902161,
            -0.49039921164512634,
            0.003984351176768541
        ],
        "location": [
            358.33880615234375,
            5145.63623046875,
            368.8524475097656
        ],
        "rotation": [
            -0.2283020168542862,
            -0.6547555327415466,
            119.36968994140625
        ],
        "velocity": [
            -4.132656097412109,
            7.858010768890381,
            -0.054546188563108444
        ],
        "speed": 8.878467191102002,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 23.676259994506836,
        "front_vehicle_info": {
            "id": 18844,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                358.7652893066406,
                5169.30810546875,
                368.69189453125
            ],
            "velocity": [
                -0.0032328078523278236,
                1.8460166454315186,
                -0.01169652957469225
            ],
            "speed_kmh": 6.645803511027824,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 18847,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.76141881942749,
                "transform": {
                    "location": {
                        "x": 361.5653381347656,
                        "y": 5166.32373046875,
                        "z": 368.70550537109375
                    },
                    "rotation": {
                        "roll": 0.0011900643585249782,
                        "pitch": 0.45366114377975464,
                        "yaw": -89.93643188476562
                    }
                },
                "velocity": {
                    "x": 0.01728222891688347,
                    "y": -4.7612833976745605,
                    "z": 0.03145170956850052
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 18849,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.721219062805176,
                "transform": {
                    "location": {
                        "x": 361.4908447265625,
                        "y": 5154.35693359375,
                        "z": 368.7886657714844
                    },
                    "rotation": {
                        "roll": 0.0011926705483347178,
                        "pitch": 0.3983844220638275,
                        "yaw": -90.03582763671875
                    }
                },
                "velocity": {
                    "x": 0.02314981445670128,
                    "y": -2.7210605144500732,
                    "z": 0.01808210276067257
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18844,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.846056580543518,
                "transform": {
                    "location": {
                        "x": 358.7652893066406,
                        "y": 5169.30810546875,
                        "z": 368.69189453125
                    },
                    "rotation": {
                        "roll": 0.005425428505986929,
                        "pitch": -0.027675924822688103,
                        "yaw": 90.50186920166016
                    }
                },
                "velocity": {
                    "x": -0.0032328078523278236,
                    "y": 1.8460166454315186,
                    "z": -0.01169652957469225
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 18843,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.202828407287598,
                "transform": {
                    "location": {
                        "x": 358.8324279785156,
                        "y": 5182.9765625,
                        "z": 368.603515625
                    },
                    "rotation": {
                        "roll": -0.002410857006907463,
                        "pitch": -0.3316330015659332,
                        "yaw": 90.15884399414062
                    }
                },
                "velocity": {
                    "x": -0.015475612133741379,
                    "y": 5.202713966369629,
                    "z": -0.030828962102532387
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 18850,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.055567741394043,
                "transform": {
                    "location": {
                        "x": 358.58349609375,
                        "y": 5129.421875,
                        "z": 369.24957275390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3948327302932739,
                        "yaw": 89.68331909179688
                    }
                },
                "velocity": {
                    "x": 0.007885263301432133,
                    "y": 1.4266724586486816,
                    "z": -1.4798318147659302
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.99864262342453,
        "expert_target_speed": 8.992855167870319,
        "target_point": [
            8.846042226130871,
            -5.427754793208837
        ],
        "target_point_next": [
            8.846042226130871,
            -5.427754793208837
        ]
    }
}